# RC hand-skeleton sample: take 01

One take of glove-based hand motion capture, recorded by Robotics Center on its own hardware in April 2026.
It has no video, no audio and no identifying fields.

| File | Hand | Rate | Frames | Duration |
|---|---|---|---|---|
| `rc-hand-skeleton_take01_right_60hz.csv.gz` | right | 60 Hz | 1,676 | 27.9 s |

## Columns (367 per row)

| Group | Columns | Notes |
|---|---|---|
| Index | `Frame`, `Elapsed_Time_In_Milliseconds`, `Time` (`HH:MM:SS:mmm`) | Frame numbers are contiguous, with no gaps |
| Joint positions | `<Joint>_Position_{X,Y,Z}`, 25 joints × 3 = 75 | Wrist (`Hand`) is the origin |
| Joint rotations | `<Joint>_Rotation_{X,Y,Z}`, 75 | Euler angles in degrees |
| Linear velocity | `<Joint>_Velocity_{X,Y,Z}`, 75 | Derived by the capture software |
| Linear acceleration | `<Joint>_Acceleration_{X,Y,Z}`, 75 | Derived and noisy |
| Pinch distance | `Pinch_ThumbTo{Index,Middle,Ring,Pinky}`, 4 | Same unit as the positions |
| Joint angles | `<Finger>_<Joint>_{Spread,Flex}`, 20 | Degrees |
| Angular velocity | `…_AngularVelocity`, 20 | Degrees per second |
| Angular acceleration | `…_AngularAcceleration`, 20 | Degrees per second² |

The 25 joints are `Hand` (the wrist), `Thumb_{CMC,MCP,DIP,TIP}` and `{Index,Middle,Ring,Pinky}_{CMC,MCP,PIP,DIP,TIP}`.

## Caveats

- **The position units are inferred.** The export did not state them. The bone lengths only make sense as
  centimetres (index MCP to PIP is about 4.6), so treat the positions as cm until confirmed.
- **This take has no wrist orientation.** `Hand_Rotation_*` is 0 in every frame, so positions are in a
  hand-local frame.
- If you need velocity or acceleration, recompute them from the positions.

`playback.json` is what the in-page viewer uses: positions only, 30 fps, multiplied by 10 to give mm.