Foot placement estimation

	l_toe_POS_x	l_toe_POS_y	l_toe_POS_z	l_toe_POS_err	l_heel_POS_x	l_heel_POS_y	l_heel_POS_z	l_heel_POS_err	l_ank_POS_x	l_ank_POS_y	...	rf_hd_POS_z	rf_hd_POS_err	lb_hd_POS_x	lb_hd_POS_y	lb_hd_POS_z	lb_hd_POS_err	rb_hd_POS_x	rb_hd_POS_y	rb_hd_POS_z	rb_hd_POS_err
0	104.038971	1923.752613	29.210493	1.988046	379.180973	1958.356346	42.749901	2.228772	334.418987	1906.556879	...	1636.228966	1.190804	239.970043	2045.878252	1706.060633	1.890744	270.107025	2193.712363	1679.601374	1.939633
1	104.049532	1923.746053	29.214967	1.984241	379.185322	1958.330570	42.748243	2.218314	334.372779	1906.611620	...	1636.176068	1.169524	240.050710	2045.988794	1706.092758	1.874603	270.154494	2193.748835	1679.541357	1.952618
2	104.037964	1923.741460	29.205850	1.999467	379.202259	1958.330933	42.749620	2.227843	334.386829	1906.554510	...	1636.115574	1.207482	240.077404	2046.087384	1706.161342	1.880366	270.161469	2193.816528	1679.520871	1.970417
3	104.047870	1923.743800	29.218450	1.990330	381.134744	1958.857079	44.447967	1.209415	333.869858	1905.609842	...	1636.075931	1.200377	240.475298	2046.651755	1706.415789	1.515654	266.177106	2197.762651	1681.372945	0.206163
4	104.004976	1923.784626	29.124188	1.984437	381.275087	1958.988360	44.682837	1.196411	333.532319	1906.144652	...	1635.996568	1.214349	240.452243	2046.822281	1706.458181	1.506510	266.115318	2197.910615	1681.396739	0.213725

5 rows × 188 columns

array([[-0.00173305, -0.99997071, -0.0074546 ],
       [-0.00198854, -0.99996949, -0.00755363],
       [-0.00194248, -0.99996887, -0.00764725],
       ...,
       [-0.83400407,  0.55067049, -0.03462981],
       [-0.83616024,  0.5474966 , -0.03291699],
       [-0.83721322,  0.545866  , -0.03323144]], shape=(43022, 3))

array([[0., 0., 1.],
       [0., 0., 1.],
       [0., 0., 1.],
       ...,
       [0., 0., 1.],
       [0., 0., 1.],
       [0., 0., 1.]], shape=(43022, 3))

array([[-0.9999985 ,  0.0017331 ,  0.        ],
       [-0.99999802,  0.0019886 ,  0.        ],
       [-0.99999811,  0.00194253,  0.        ],
       ...,
       [ 0.55100098,  0.8345046 , -0.        ],
       [ 0.54779346,  0.83661361, -0.        ],
       [ 0.54616766,  0.83767588, -0.        ]], shape=(43022, 3))

R.shape=(43022, 3, 3)

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