ml/5_segment_dataset_build_model_all_joints.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# 5 Segment Dataset Model Building on All Joints\n",
    "Here the demo model for all fingers closing at once is built on all joints. This model will be built with the 1.4M parameter large model with dropout"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import collections\n",
    "import pandas as pd\n",
    "import numpy as np\n",
    "import time\n",
    "import os\n",
    "import tensorflow as tf\n",
    "from tensorflow.keras.layers import *\n",
    "from tensorflow.keras.models import Model\n",
    "from tensorflow.keras.models import load_model\n",
    "from tensorflow.keras.utils import plot_model\n",
    "import matplotlib.pyplot as plt\n",
    "pd.set_option('display.max_columns', 500)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "os.environ['HDF5_USE_FILE_LOCKING'] = 'FALSE'"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "'2.0.0'"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "tf.__version__"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Load Datasets and Clean\n",
    "In this configuration the relevant data set should be loaded from the same folder as the notebook"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "df = pd.read_csv('jackson_all_fingers_5_joined.csv')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "The data consists of timestamps from the two hardware devices and a diff between them. When the two hardware data streams were stitched together an effor was made to minimize this diff, but the driver configuration did not easily permit eliminating it. This information is included to understand the accuracy of the data, but will not be used during the training.\n",
    "\n",
    "The time data is followed by the 8 channels from the Myo, this data will be used as input features.\n",
    "\n",
    "This is followed by the 63 positional points from the Leap cameras. These will be used as labels."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>Leap timestamp</th>\n",
       "      <th>timestamp diff</th>\n",
       "      <th>emg timestamp</th>\n",
       "      <th>ch1</th>\n",
       "      <th>ch2</th>\n",
       "      <th>ch3</th>\n",
       "      <th>ch4</th>\n",
       "      <th>ch5</th>\n",
       "      <th>ch6</th>\n",
       "      <th>ch7</th>\n",
       "      <th>ch8</th>\n",
       "      <th>Wrist x</th>\n",
       "      <th>Wrist y</th>\n",
       "      <th>Wrist z</th>\n",
       "      <th>Thumb Proximal x</th>\n",
       "      <th>Thumb Proximal y</th>\n",
       "      <th>Thumb Proximal z</th>\n",
       "      <th>Thumb Intermediate x</th>\n",
       "      <th>Thumb Intermediate y</th>\n",
       "      <th>Thumb Intermediate z</th>\n",
       "      <th>Thumb Distal x</th>\n",
       "      <th>Thumb Distal y</th>\n",
       "      <th>Thumb Distal z</th>\n",
       "      <th>Thumb Tip x</th>\n",
       "      <th>Thumb Tip y</th>\n",
       "      <th>Thumb Tip z</th>\n",
       "      <th>Index Proximal x</th>\n",
       "      <th>Index Proximal y</th>\n",
       "      <th>Index Proximal z</th>\n",
       "      <th>Index Intermediate x</th>\n",
       "      <th>Index Intermediate y</th>\n",
       "      <th>Index Intermediate z</th>\n",
       "      <th>Index Distal x</th>\n",
       "      <th>Index Distal y</th>\n",
       "      <th>Index Distal z</th>\n",
       "      <th>Index Tip x</th>\n",
       "      <th>Index Tip y</th>\n",
       "      <th>Index Tip z</th>\n",
       "      <th>Middle Proximal x</th>\n",
       "      <th>Middle Proximal y</th>\n",
       "      <th>Middle Proximal z</th>\n",
       "      <th>Middle Intermediate x</th>\n",
       "      <th>Middle Intermediate y</th>\n",
       "      <th>Middle Intermediate z</th>\n",
       "      <th>Middle Distal x</th>\n",
       "      <th>Middle Distal y</th>\n",
       "      <th>Middle Distal z</th>\n",
       "      <th>Middle Tip x</th>\n",
       "      <th>Middle Tip y</th>\n",
       "      <th>Middle Tip z</th>\n",
       "      <th>Ring Proximal x</th>\n",
       "      <th>Ring Proximal y</th>\n",
       "      <th>Ring Proximal z</th>\n",
       "      <th>Ring Intermediate x</th>\n",
       "      <th>Ring Intermediate y</th>\n",
       "      <th>Ring Intermediate z</th>\n",
       "      <th>Ring Distal x</th>\n",
       "      <th>Ring Distal y</th>\n",
       "      <th>Ring Distal z</th>\n",
       "      <th>Ring Tip x</th>\n",
       "      <th>Ring Tip y</th>\n",
       "      <th>Ring Tip z</th>\n",
       "      <th>Pinky Proximal x</th>\n",
       "      <th>Pinky Proximal y</th>\n",
       "      <th>Pinky Proximal z</th>\n",
       "      <th>Pinky Intermediate x</th>\n",
       "      <th>Pinky Intermediate y</th>\n",
       "      <th>Pinky Intermediate z</th>\n",
       "      <th>Pinky Distal x</th>\n",
       "      <th>Pinky Distal y</th>\n",
       "      <th>Pinky Distal z</th>\n",
       "      <th>Pinky Tip x</th>\n",
       "      <th>Pinky Tip y</th>\n",
       "      <th>Pinky Tip z</th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <td>0</td>\n",
       "      <td>1.571870e+09</td>\n",
       "      <td>0.005692</td>\n",
       "      <td>1.571870e+09</td>\n",
       "      <td>78.0</td>\n",
       "      <td>191.0</td>\n",
       "      <td>489.0</td>\n",
       "      <td>49.0</td>\n",
       "      <td>32.0</td>\n",
       "      <td>28.0</td>\n",
       "      <td>26.0</td>\n",
       "      <td>30.0</td>\n",
       "      <td>32.740116</td>\n",
       "      <td>-24.541840</td>\n",
       "      <td>34.267227</td>\n",
       "      <td>11.553036</td>\n",
       "      <td>-45.455826</td>\n",
       "      <td>37.332489</td>\n",
       "      <td>-27.890228</td>\n",
       "      <td>-38.843796</td>\n",
       "      <td>9.545334</td>\n",
       "      <td>-48.374039</td>\n",
       "      <td>-32.275177</td>\n",
       "      <td>-15.826324</td>\n",
       "      <td>-64.700027</td>\n",
       "      <td>-28.397400</td>\n",
       "      <td>-31.309944</td>\n",
       "      <td>-33.500755</td>\n",
       "      <td>5.439697</td>\n",
       "      <td>-6.636353</td>\n",
       "      <td>-49.370407</td>\n",
       "      <td>18.675888</td>\n",
       "      <td>-43.101730</td>\n",
       "      <td>-54.321281</td>\n",
       "      <td>16.026352</td>\n",
       "      <td>-66.003845</td>\n",
       "      <td>-55.189941</td>\n",
       "      <td>9.038986</td>\n",
       "      <td>-81.112251</td>\n",
       "      <td>-15.335472</td>\n",
       "      <td>15.945602</td>\n",
       "      <td>-11.712173</td>\n",
       "      <td>-32.046516</td>\n",
       "      <td>34.042282</td>\n",
       "      <td>-51.768417</td>\n",
       "      <td>-39.209435</td>\n",
       "      <td>30.390823</td>\n",
       "      <td>-78.320190</td>\n",
       "      <td>-41.772079</td>\n",
       "      <td>21.434891</td>\n",
       "      <td>-94.110550</td>\n",
       "      <td>6.128254</td>\n",
       "      <td>21.192429</td>\n",
       "      <td>-14.159149</td>\n",
       "      <td>-9.105164</td>\n",
       "      <td>25.333664</td>\n",
       "      <td>-54.789200</td>\n",
       "      <td>-15.388985</td>\n",
       "      <td>13.883163</td>\n",
       "      <td>-78.449226</td>\n",
       "      <td>-17.427002</td>\n",
       "      <td>0.837814</td>\n",
       "      <td>-91.016022</td>\n",
       "      <td>26.697392</td>\n",
       "      <td>21.496628</td>\n",
       "      <td>-17.790726</td>\n",
       "      <td>17.384521</td>\n",
       "      <td>28.543381</td>\n",
       "      <td>-50.249924</td>\n",
       "      <td>11.837936</td>\n",
       "      <td>22.689163</td>\n",
       "      <td>-67.543388</td>\n",
       "      <td>7.466499</td>\n",
       "      <td>12.266251</td>\n",
       "      <td>-79.994667</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <td>1</td>\n",
       "      <td>1.571870e+09</td>\n",
       "      <td>-0.015247</td>\n",
       "      <td>1.571870e+09</td>\n",
       "      <td>77.0</td>\n",
       "      <td>194.0</td>\n",
       "      <td>460.0</td>\n",
       "      <td>44.0</td>\n",
       "      <td>32.0</td>\n",
       "      <td>26.0</td>\n",
       "      <td>26.0</td>\n",
       "      <td>26.0</td>\n",
       "      <td>31.889270</td>\n",
       "      <td>-24.071945</td>\n",
       "      <td>35.370911</td>\n",
       "      <td>11.104894</td>\n",
       "      <td>-45.495323</td>\n",
       "      <td>37.418983</td>\n",
       "      <td>-27.261786</td>\n",
       "      <td>-40.031132</td>\n",
       "      <td>7.957672</td>\n",
       "      <td>-46.668783</td>\n",
       "      <td>-33.984428</td>\n",
       "      <td>-18.358578</td>\n",
       "      <td>-62.639408</td>\n",
       "      <td>-30.647964</td>\n",
       "      <td>-34.322727</td>\n",
       "      <td>-33.310562</td>\n",
       "      <td>4.718166</td>\n",
       "      <td>-7.945194</td>\n",
       "      <td>-47.703016</td>\n",
       "      <td>17.077820</td>\n",
       "      <td>-45.303350</td>\n",
       "      <td>-51.470499</td>\n",
       "      <td>14.115398</td>\n",
       "      <td>-68.379135</td>\n",
       "      <td>-51.465849</td>\n",
       "      <td>7.069313</td>\n",
       "      <td>-83.474825</td>\n",
       "      <td>-15.216702</td>\n",
       "      <td>15.685532</td>\n",
       "      <td>-12.201180</td>\n",
       "      <td>-29.673409</td>\n",
       "      <td>27.166504</td>\n",
       "      <td>-55.166773</td>\n",
       "      <td>-34.598793</td>\n",
       "      <td>20.013927</td>\n",
       "      <td>-81.373623</td>\n",
       "      <td>-35.603689</td>\n",
       "      <td>9.455280</td>\n",
       "      <td>-96.243332</td>\n",
       "      <td>6.188818</td>\n",
       "      <td>21.449577</td>\n",
       "      <td>-13.736862</td>\n",
       "      <td>-7.600308</td>\n",
       "      <td>25.338844</td>\n",
       "      <td>-54.891603</td>\n",
       "      <td>-12.705101</td>\n",
       "      <td>13.929790</td>\n",
       "      <td>-78.840935</td>\n",
       "      <td>-13.961274</td>\n",
       "      <td>0.991081</td>\n",
       "      <td>-91.608307</td>\n",
       "      <td>26.865497</td>\n",
       "      <td>22.262756</td>\n",
       "      <td>-16.528706</td>\n",
       "      <td>19.227841</td>\n",
       "      <td>29.091187</td>\n",
       "      <td>-49.456484</td>\n",
       "      <td>14.718205</td>\n",
       "      <td>23.240425</td>\n",
       "      <td>-67.039742</td>\n",
       "      <td>11.169244</td>\n",
       "      <td>12.893017</td>\n",
       "      <td>-79.800802</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <td>2</td>\n",
       "      <td>1.571870e+09</td>\n",
       "      <td>0.004931</td>\n",
       "      <td>1.571870e+09</td>\n",
       "      <td>77.0</td>\n",
       "      <td>192.0</td>\n",
       "      <td>452.0</td>\n",
       "      <td>44.0</td>\n",
       "      <td>31.0</td>\n",
       "      <td>26.0</td>\n",
       "      <td>25.0</td>\n",
       "      <td>26.0</td>\n",
       "      <td>30.410048</td>\n",
       "      <td>-23.366379</td>\n",
       "      <td>37.117401</td>\n",
       "      <td>10.205906</td>\n",
       "      <td>-45.436249</td>\n",
       "      <td>37.746613</td>\n",
       "      <td>-26.622875</td>\n",
       "      <td>-41.457962</td>\n",
       "      <td>6.132843</td>\n",
       "      <td>-44.596226</td>\n",
       "      <td>-36.101776</td>\n",
       "      <td>-21.339401</td>\n",
       "      <td>-59.869663</td>\n",
       "      <td>-33.417786</td>\n",
       "      <td>-38.097557</td>\n",
       "      <td>-32.906757</td>\n",
       "      <td>3.757065</td>\n",
       "      <td>-9.947983</td>\n",
       "      <td>-44.949436</td>\n",
       "      <td>14.571655</td>\n",
       "      <td>-48.610428</td>\n",
       "      <td>-46.882168</td>\n",
       "      <td>10.906006</td>\n",
       "      <td>-71.823914</td>\n",
       "      <td>-45.530270</td>\n",
       "      <td>3.578659</td>\n",
       "      <td>-86.734444</td>\n",
       "      <td>-14.927788</td>\n",
       "      <td>15.309906</td>\n",
       "      <td>-13.014709</td>\n",
       "      <td>-25.458424</td>\n",
       "      <td>20.115479</td>\n",
       "      <td>-58.591713</td>\n",
       "      <td>-27.215366</td>\n",
       "      <td>9.358963</td>\n",
       "      <td>-84.103439</td>\n",
       "      <td>-26.145931</td>\n",
       "      <td>-2.892410</td>\n",
       "      <td>-97.700180</td>\n",
       "      <td>6.351604</td>\n",
       "      <td>21.741302</td>\n",
       "      <td>-13.195786</td>\n",
       "      <td>-4.605194</td>\n",
       "      <td>25.607300</td>\n",
       "      <td>-55.207825</td>\n",
       "      <td>-7.812042</td>\n",
       "      <td>14.522766</td>\n",
       "      <td>-79.646461</td>\n",
       "      <td>-7.949074</td>\n",
       "      <td>1.885132</td>\n",
       "      <td>-92.781532</td>\n",
       "      <td>27.134350</td>\n",
       "      <td>23.211395</td>\n",
       "      <td>-14.707947</td>\n",
       "      <td>21.482510</td>\n",
       "      <td>29.928253</td>\n",
       "      <td>-48.068497</td>\n",
       "      <td>18.301043</td>\n",
       "      <td>24.122009</td>\n",
       "      <td>-65.964485</td>\n",
       "      <td>15.876139</td>\n",
       "      <td>13.864960</td>\n",
       "      <td>-79.067688</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <td>3</td>\n",
       "      <td>1.571870e+09</td>\n",
       "      <td>-0.018470</td>\n",
       "      <td>1.571870e+09</td>\n",
       "      <td>86.0</td>\n",
       "      <td>194.0</td>\n",
       "      <td>439.0</td>\n",
       "      <td>52.0</td>\n",
       "      <td>29.0</td>\n",
       "      <td>26.0</td>\n",
       "      <td>23.0</td>\n",
       "      <td>29.0</td>\n",
       "      <td>29.515146</td>\n",
       "      <td>-23.305801</td>\n",
       "      <td>37.866948</td>\n",
       "      <td>9.377712</td>\n",
       "      <td>-45.444316</td>\n",
       "      <td>37.948359</td>\n",
       "      <td>-26.836489</td>\n",
       "      <td>-42.239960</td>\n",
       "      <td>5.549749</td>\n",
       "      <td>-44.067750</td>\n",
       "      <td>-37.275050</td>\n",
       "      <td>-22.463529</td>\n",
       "      <td>-59.060833</td>\n",
       "      <td>-34.952265</td>\n",
       "      <td>-39.525002</td>\n",
       "      <td>-32.648713</td>\n",
       "      <td>3.657374</td>\n",
       "      <td>-10.793640</td>\n",
       "      <td>-43.369236</td>\n",
       "      <td>13.053965</td>\n",
       "      <td>-50.201617</td>\n",
       "      <td>-44.443986</td>\n",
       "      <td>8.709457</td>\n",
       "      <td>-73.350321</td>\n",
       "      <td>-42.546187</td>\n",
       "      <td>1.078679</td>\n",
       "      <td>-88.045962</td>\n",
       "      <td>-14.636565</td>\n",
       "      <td>15.274206</td>\n",
       "      <td>-13.380559</td>\n",
       "      <td>-23.541269</td>\n",
       "      <td>18.579025</td>\n",
       "      <td>-59.431292</td>\n",
       "      <td>-24.253763</td>\n",
       "      <td>6.965118</td>\n",
       "      <td>-84.613708</td>\n",
       "      <td>-22.577766</td>\n",
       "      <td>-5.706752</td>\n",
       "      <td>-97.755282</td>\n",
       "      <td>6.617319</td>\n",
       "      <td>21.777522</td>\n",
       "      <td>-13.002813</td>\n",
       "      <td>-2.554703</td>\n",
       "      <td>25.939855</td>\n",
       "      <td>-55.406715</td>\n",
       "      <td>-4.954353</td>\n",
       "      <td>15.406398</td>\n",
       "      <td>-80.177053</td>\n",
       "      <td>-4.789415</td>\n",
       "      <td>3.190928</td>\n",
       "      <td>-93.703936</td>\n",
       "      <td>27.426164</td>\n",
       "      <td>23.319392</td>\n",
       "      <td>-13.973806</td>\n",
       "      <td>22.656871</td>\n",
       "      <td>29.935328</td>\n",
       "      <td>-47.490077</td>\n",
       "      <td>19.975088</td>\n",
       "      <td>24.165766</td>\n",
       "      <td>-65.478701</td>\n",
       "      <td>17.925629</td>\n",
       "      <td>13.987162</td>\n",
       "      <td>-78.705981</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <td>4</td>\n",
       "      <td>1.571870e+09</td>\n",
       "      <td>0.003428</td>\n",
       "      <td>1.571870e+09</td>\n",
       "      <td>83.0</td>\n",
       "      <td>118.0</td>\n",
       "      <td>436.0</td>\n",
       "      <td>57.0</td>\n",
       "      <td>30.0</td>\n",
       "      <td>24.0</td>\n",
       "      <td>24.0</td>\n",
       "      <td>29.0</td>\n",
       "      <td>28.481499</td>\n",
       "      <td>-23.573776</td>\n",
       "      <td>38.490784</td>\n",
       "      <td>8.178152</td>\n",
       "      <td>-45.557816</td>\n",
       "      <td>38.092270</td>\n",
       "      <td>-27.321011</td>\n",
       "      <td>-42.863098</td>\n",
       "      <td>4.863312</td>\n",
       "      <td>-43.891598</td>\n",
       "      <td>-38.244080</td>\n",
       "      <td>-23.606575</td>\n",
       "      <td>-58.641438</td>\n",
       "      <td>-36.215683</td>\n",
       "      <td>-40.916840</td>\n",
       "      <td>-32.371212</td>\n",
       "      <td>3.919144</td>\n",
       "      <td>-11.518570</td>\n",
       "      <td>-41.938046</td>\n",
       "      <td>12.510162</td>\n",
       "      <td>-51.411377</td>\n",
       "      <td>-42.397465</td>\n",
       "      <td>7.767944</td>\n",
       "      <td>-74.505501</td>\n",
       "      <td>-40.162670</td>\n",
       "      <td>-0.048889</td>\n",
       "      <td>-89.056946</td>\n",
       "      <td>-14.216682</td>\n",
       "      <td>15.400894</td>\n",
       "      <td>-13.686249</td>\n",
       "      <td>-21.930832</td>\n",
       "      <td>18.479172</td>\n",
       "      <td>-59.970879</td>\n",
       "      <td>-22.098270</td>\n",
       "      <td>6.747223</td>\n",
       "      <td>-85.109901</td>\n",
       "      <td>-20.193668</td>\n",
       "      <td>-5.982071</td>\n",
       "      <td>-98.165504</td>\n",
       "      <td>7.073370</td>\n",
       "      <td>21.741074</td>\n",
       "      <td>-12.823776</td>\n",
       "      <td>-0.672415</td>\n",
       "      <td>26.106003</td>\n",
       "      <td>-55.496468</td>\n",
       "      <td>-2.490669</td>\n",
       "      <td>15.891190</td>\n",
       "      <td>-80.451401</td>\n",
       "      <td>-2.142765</td>\n",
       "      <td>3.916260</td>\n",
       "      <td>-94.189621</td>\n",
       "      <td>27.910908</td>\n",
       "      <td>23.124893</td>\n",
       "      <td>-13.326126</td>\n",
       "      <td>23.986481</td>\n",
       "      <td>29.677933</td>\n",
       "      <td>-46.966019</td>\n",
       "      <td>21.681488</td>\n",
       "      <td>23.974106</td>\n",
       "      <td>-65.028519</td>\n",
       "      <td>19.853371</td>\n",
       "      <td>13.900894</td>\n",
       "      <td>-78.369034</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "   Leap timestamp  timestamp diff  emg timestamp   ch1    ch2    ch3   ch4  \\\n",
       "0    1.571870e+09        0.005692   1.571870e+09  78.0  191.0  489.0  49.0   \n",
       "1    1.571870e+09       -0.015247   1.571870e+09  77.0  194.0  460.0  44.0   \n",
       "2    1.571870e+09        0.004931   1.571870e+09  77.0  192.0  452.0  44.0   \n",
       "3    1.571870e+09       -0.018470   1.571870e+09  86.0  194.0  439.0  52.0   \n",
       "4    1.571870e+09        0.003428   1.571870e+09  83.0  118.0  436.0  57.0   \n",
       "\n",
       "    ch5   ch6   ch7   ch8    Wrist x    Wrist y    Wrist z  Thumb Proximal x  \\\n",
       "0  32.0  28.0  26.0  30.0  32.740116 -24.541840  34.267227         11.553036   \n",
       "1  32.0  26.0  26.0  26.0  31.889270 -24.071945  35.370911         11.104894   \n",
       "2  31.0  26.0  25.0  26.0  30.410048 -23.366379  37.117401         10.205906   \n",
       "3  29.0  26.0  23.0  29.0  29.515146 -23.305801  37.866948          9.377712   \n",
       "4  30.0  24.0  24.0  29.0  28.481499 -23.573776  38.490784          8.178152   \n",
       "\n",
       "   Thumb Proximal y  Thumb Proximal z  Thumb Intermediate x  \\\n",
       "0        -45.455826         37.332489            -27.890228   \n",
       "1        -45.495323         37.418983            -27.261786   \n",
       "2        -45.436249         37.746613            -26.622875   \n",
       "3        -45.444316         37.948359            -26.836489   \n",
       "4        -45.557816         38.092270            -27.321011   \n",
       "\n",
       "   Thumb Intermediate y  Thumb Intermediate z  Thumb Distal x  Thumb Distal y  \\\n",
       "0            -38.843796              9.545334      -48.374039      -32.275177   \n",
       "1            -40.031132              7.957672      -46.668783      -33.984428   \n",
       "2            -41.457962              6.132843      -44.596226      -36.101776   \n",
       "3            -42.239960              5.549749      -44.067750      -37.275050   \n",
       "4            -42.863098              4.863312      -43.891598      -38.244080   \n",
       "\n",
       "   Thumb Distal z  Thumb Tip x  Thumb Tip y  Thumb Tip z  Index Proximal x  \\\n",
       "0      -15.826324   -64.700027   -28.397400   -31.309944        -33.500755   \n",
       "1      -18.358578   -62.639408   -30.647964   -34.322727        -33.310562   \n",
       "2      -21.339401   -59.869663   -33.417786   -38.097557        -32.906757   \n",
       "3      -22.463529   -59.060833   -34.952265   -39.525002        -32.648713   \n",
       "4      -23.606575   -58.641438   -36.215683   -40.916840        -32.371212   \n",
       "\n",
       "   Index Proximal y  Index Proximal z  Index Intermediate x  \\\n",
       "0          5.439697         -6.636353            -49.370407   \n",
       "1          4.718166         -7.945194            -47.703016   \n",
       "2          3.757065         -9.947983            -44.949436   \n",
       "3          3.657374        -10.793640            -43.369236   \n",
       "4          3.919144        -11.518570            -41.938046   \n",
       "\n",
       "   Index Intermediate y  Index Intermediate z  Index Distal x  Index Distal y  \\\n",
       "0             18.675888            -43.101730      -54.321281       16.026352   \n",
       "1             17.077820            -45.303350      -51.470499       14.115398   \n",
       "2             14.571655            -48.610428      -46.882168       10.906006   \n",
       "3             13.053965            -50.201617      -44.443986        8.709457   \n",
       "4             12.510162            -51.411377      -42.397465        7.767944   \n",
       "\n",
       "   Index Distal z  Index Tip x  Index Tip y  Index Tip z  Middle Proximal x  \\\n",
       "0      -66.003845   -55.189941     9.038986   -81.112251         -15.335472   \n",
       "1      -68.379135   -51.465849     7.069313   -83.474825         -15.216702   \n",
       "2      -71.823914   -45.530270     3.578659   -86.734444         -14.927788   \n",
       "3      -73.350321   -42.546187     1.078679   -88.045962         -14.636565   \n",
       "4      -74.505501   -40.162670    -0.048889   -89.056946         -14.216682   \n",
       "\n",
       "   Middle Proximal y  Middle Proximal z  Middle Intermediate x  \\\n",
       "0          15.945602         -11.712173             -32.046516   \n",
       "1          15.685532         -12.201180             -29.673409   \n",
       "2          15.309906         -13.014709             -25.458424   \n",
       "3          15.274206         -13.380559             -23.541269   \n",
       "4          15.400894         -13.686249             -21.930832   \n",
       "\n",
       "   Middle Intermediate y  Middle Intermediate z  Middle Distal x  \\\n",
       "0              34.042282             -51.768417       -39.209435   \n",
       "1              27.166504             -55.166773       -34.598793   \n",
       "2              20.115479             -58.591713       -27.215366   \n",
       "3              18.579025             -59.431292       -24.253763   \n",
       "4              18.479172             -59.970879       -22.098270   \n",
       "\n",
       "   Middle Distal y  Middle Distal z  Middle Tip x  Middle Tip y  Middle Tip z  \\\n",
       "0        30.390823       -78.320190    -41.772079     21.434891    -94.110550   \n",
       "1        20.013927       -81.373623    -35.603689      9.455280    -96.243332   \n",
       "2         9.358963       -84.103439    -26.145931     -2.892410    -97.700180   \n",
       "3         6.965118       -84.613708    -22.577766     -5.706752    -97.755282   \n",
       "4         6.747223       -85.109901    -20.193668     -5.982071    -98.165504   \n",
       "\n",
       "   Ring Proximal x  Ring Proximal y  Ring Proximal z  Ring Intermediate x  \\\n",
       "0         6.128254        21.192429       -14.159149            -9.105164   \n",
       "1         6.188818        21.449577       -13.736862            -7.600308   \n",
       "2         6.351604        21.741302       -13.195786            -4.605194   \n",
       "3         6.617319        21.777522       -13.002813            -2.554703   \n",
       "4         7.073370        21.741074       -12.823776            -0.672415   \n",
       "\n",
       "   Ring Intermediate y  Ring Intermediate z  Ring Distal x  Ring Distal y  \\\n",
       "0            25.333664           -54.789200     -15.388985      13.883163   \n",
       "1            25.338844           -54.891603     -12.705101      13.929790   \n",
       "2            25.607300           -55.207825      -7.812042      14.522766   \n",
       "3            25.939855           -55.406715      -4.954353      15.406398   \n",
       "4            26.106003           -55.496468      -2.490669      15.891190   \n",
       "\n",
       "   Ring Distal z  Ring Tip x  Ring Tip y  Ring Tip z  Pinky Proximal x  \\\n",
       "0     -78.449226  -17.427002    0.837814  -91.016022         26.697392   \n",
       "1     -78.840935  -13.961274    0.991081  -91.608307         26.865497   \n",
       "2     -79.646461   -7.949074    1.885132  -92.781532         27.134350   \n",
       "3     -80.177053   -4.789415    3.190928  -93.703936         27.426164   \n",
       "4     -80.451401   -2.142765    3.916260  -94.189621         27.910908   \n",
       "\n",
       "   Pinky Proximal y  Pinky Proximal z  Pinky Intermediate x  \\\n",
       "0         21.496628        -17.790726             17.384521   \n",
       "1         22.262756        -16.528706             19.227841   \n",
       "2         23.211395        -14.707947             21.482510   \n",
       "3         23.319392        -13.973806             22.656871   \n",
       "4         23.124893        -13.326126             23.986481   \n",
       "\n",
       "   Pinky Intermediate y  Pinky Intermediate z  Pinky Distal x  Pinky Distal y  \\\n",
       "0             28.543381            -50.249924       11.837936       22.689163   \n",
       "1             29.091187            -49.456484       14.718205       23.240425   \n",
       "2             29.928253            -48.068497       18.301043       24.122009   \n",
       "3             29.935328            -47.490077       19.975088       24.165766   \n",
       "4             29.677933            -46.966019       21.681488       23.974106   \n",
       "\n",
       "   Pinky Distal z  Pinky Tip x  Pinky Tip y  Pinky Tip z  \n",
       "0      -67.543388     7.466499    12.266251   -79.994667  \n",
       "1      -67.039742    11.169244    12.893017   -79.800802  \n",
       "2      -65.964485    15.876139    13.864960   -79.067688  \n",
       "3      -65.478701    17.925629    13.987162   -78.705981  \n",
       "4      -65.028519    19.853371    13.900894   -78.369034  "
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "df.head()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [],
   "source": [
    "df = df.drop(labels=[\"Leap timestamp\", \"timestamp diff\", \"emg timestamp\"], axis=1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
       "<div>\n",
       "<style scoped>\n",
       "    .dataframe tbody tr th:only-of-type {\n",
       "        vertical-align: middle;\n",
       "    }\n",
       "\n",
       "    .dataframe tbody tr th {\n",
       "        vertical-align: top;\n",
       "    }\n",
       "\n",
       "    .dataframe thead th {\n",
       "        text-align: right;\n",
       "    }\n",
       "</style>\n",
       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>ch1</th>\n",
       "      <th>ch2</th>\n",
       "      <th>ch3</th>\n",
       "      <th>ch4</th>\n",
       "      <th>ch5</th>\n",
       "      <th>ch6</th>\n",
       "      <th>ch7</th>\n",
       "      <th>ch8</th>\n",
       "      <th>Wrist x</th>\n",
       "      <th>Wrist y</th>\n",
       "      <th>Wrist z</th>\n",
       "      <th>Thumb Proximal x</th>\n",
       "      <th>Thumb Proximal y</th>\n",
       "      <th>Thumb Proximal z</th>\n",
       "      <th>Thumb Intermediate x</th>\n",
       "      <th>Thumb Intermediate y</th>\n",
       "      <th>Thumb Intermediate z</th>\n",
       "      <th>Thumb Distal x</th>\n",
       "      <th>Thumb Distal y</th>\n",
       "      <th>Thumb Distal z</th>\n",
       "      <th>Thumb Tip x</th>\n",
       "      <th>Thumb Tip y</th>\n",
       "      <th>Thumb Tip z</th>\n",
       "      <th>Index Proximal x</th>\n",
       "      <th>Index Proximal y</th>\n",
       "      <th>Index Proximal z</th>\n",
       "      <th>Index Intermediate x</th>\n",
       "      <th>Index Intermediate y</th>\n",
       "      <th>Index Intermediate z</th>\n",
       "      <th>Index Distal x</th>\n",
       "      <th>Index Distal y</th>\n",
       "      <th>Index Distal z</th>\n",
       "      <th>Index Tip x</th>\n",
       "      <th>Index Tip y</th>\n",
       "      <th>Index Tip z</th>\n",
       "      <th>Middle Proximal x</th>\n",
       "      <th>Middle Proximal y</th>\n",
       "      <th>Middle Proximal z</th>\n",
       "      <th>Middle Intermediate x</th>\n",
       "      <th>Middle Intermediate y</th>\n",
       "      <th>Middle Intermediate z</th>\n",
       "      <th>Middle Distal x</th>\n",
       "      <th>Middle Distal y</th>\n",
       "      <th>Middle Distal z</th>\n",
       "      <th>Middle Tip x</th>\n",
       "      <th>Middle Tip y</th>\n",
       "      <th>Middle Tip z</th>\n",
       "      <th>Ring Proximal x</th>\n",
       "      <th>Ring Proximal y</th>\n",
       "      <th>Ring Proximal z</th>\n",
       "      <th>Ring Intermediate x</th>\n",
       "      <th>Ring Intermediate y</th>\n",
       "      <th>Ring Intermediate z</th>\n",
       "      <th>Ring Distal x</th>\n",
       "      <th>Ring Distal y</th>\n",
       "      <th>Ring Distal z</th>\n",
       "      <th>Ring Tip x</th>\n",
       "      <th>Ring Tip y</th>\n",
       "      <th>Ring Tip z</th>\n",
       "      <th>Pinky Proximal x</th>\n",
       "      <th>Pinky Proximal y</th>\n",
       "      <th>Pinky Proximal z</th>\n",
       "      <th>Pinky Intermediate x</th>\n",
       "      <th>Pinky Intermediate y</th>\n",
       "      <th>Pinky Intermediate z</th>\n",
       "      <th>Pinky Distal x</th>\n",
       "      <th>Pinky Distal y</th>\n",
       "      <th>Pinky Distal z</th>\n",
       "      <th>Pinky Tip x</th>\n",
       "      <th>Pinky Tip y</th>\n",
       "      <th>Pinky Tip z</th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <td>count</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "      <td>87307.000000</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <td>mean</td>\n",
       "      <td>98.388904</td>\n",
       "      <td>230.820908</td>\n",
       "      <td>368.751910</td>\n",
       "      <td>85.417676</td>\n",
       "      <td>34.897946</td>\n",
       "      <td>35.739402</td>\n",
       "      <td>75.562658</td>\n",
       "      <td>107.298281</td>\n",
       "      <td>29.213016</td>\n",
       "      <td>-1.978049</td>\n",
       "      <td>43.092914</td>\n",
       "      <td>6.338477</td>\n",
       "      <td>-15.717597</td>\n",
       "      <td>55.518146</td>\n",
       "      <td>-28.631988</td>\n",
       "      <td>-27.742389</td>\n",
       "      <td>30.522882</td>\n",
       "      <td>-45.607641</td>\n",
       "      <td>-36.811752</td>\n",
       "      <td>9.183224</td>\n",
       "      <td>-54.461058</td>\n",
       "      <td>-42.116109</td>\n",
       "      <td>-1.983777</td>\n",
       "      <td>-32.378298</td>\n",
       "      <td>2.364101</td>\n",
       "      <td>-10.735029</td>\n",
       "      <td>-48.147197</td>\n",
       "      <td>-8.134466</td>\n",
       "      <td>-41.700661</td>\n",
       "      <td>-50.592472</td>\n",
       "      <td>-20.581370</td>\n",
       "      <td>-49.056009</td>\n",
       "      <td>-50.035390</td>\n",
       "      <td>-27.477760</td>\n",
       "      <td>-49.279445</td>\n",
       "      <td>-13.383464</td>\n",
       "      <td>6.886102</td>\n",
       "      <td>-19.216034</td>\n",
       "      <td>-26.795483</td>\n",
       "      <td>-3.084817</td>\n",
       "      <td>-55.416716</td>\n",
       "      <td>-29.775542</td>\n",
       "      <td>-16.695113</td>\n",
       "      <td>-64.026095</td>\n",
       "      <td>-29.540629</td>\n",
       "      <td>-23.679955</td>\n",
       "      <td>-64.238932</td>\n",
       "      <td>8.320505</td>\n",
       "      <td>8.538327</td>\n",
       "      <td>-22.465195</td>\n",
       "      <td>-2.448352</td>\n",
       "      <td>-2.533319</td>\n",
       "      <td>-56.649972</td>\n",
       "      <td>-6.468730</td>\n",
       "      <td>-16.936305</td>\n",
       "      <td>-66.931157</td>\n",
       "      <td>-7.480668</td>\n",
       "      <td>-26.030419</td>\n",
       "      <td>-68.676701</td>\n",
       "      <td>28.720582</td>\n",
       "      <td>5.655851</td>\n",
       "      <td>-23.983027</td>\n",
       "      <td>25.345314</td>\n",
       "      <td>-4.794897</td>\n",
       "      <td>-51.510902</td>\n",
       "      <td>23.263800</td>\n",
       "      <td>-15.472831</td>\n",
       "      <td>-59.360168</td>\n",
       "      <td>22.101772</td>\n",
       "      <td>-24.692609</td>\n",
       "      <td>-61.827718</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <td>std</td>\n",
       "      <td>73.604855</td>\n",
       "      <td>125.627690</td>\n",
       "      <td>202.324127</td>\n",
       "      <td>53.414674</td>\n",
       "      <td>10.083990</td>\n",
       "      <td>29.475146</td>\n",
       "      <td>63.142662</td>\n",
       "      <td>78.518723</td>\n",
       "      <td>6.492766</td>\n",
       "      <td>10.428856</td>\n",
       "      <td>4.428743</td>\n",
       "      <td>8.376483</td>\n",
       "      <td>13.231117</td>\n",
       "      <td>4.958858</td>\n",
       "      <td>10.802663</td>\n",
       "      <td>7.438173</td>\n",
       "      <td>10.068328</td>\n",
       "      <td>19.824384</td>\n",
       "      <td>12.547306</td>\n",
       "      <td>17.897547</td>\n",
       "      <td>30.877007</td>\n",
       "      <td>18.124090</td>\n",
       "      <td>26.746418</td>\n",
       "      <td>1.955490</td>\n",
       "      <td>3.955674</td>\n",
       "      <td>4.749763</td>\n",
       "      <td>9.638207</td>\n",
       "      <td>19.623244</td>\n",
       "      <td>8.623767</td>\n",
       "      <td>17.284198</td>\n",
       "      <td>30.062184</td>\n",
       "      <td>16.467136</td>\n",
       "      <td>23.782608</td>\n",
       "      <td>35.136859</td>\n",
       "      <td>25.864060</td>\n",
       "      <td>3.054578</td>\n",
       "      <td>4.615830</td>\n",
       "      <td>2.861798</td>\n",
       "      <td>9.294901</td>\n",
       "      <td>24.130874</td>\n",
       "      <td>9.063874</td>\n",
       "      <td>13.075726</td>\n",
       "      <td>37.949108</td>\n",
       "      <td>22.261641</td>\n",
       "      <td>16.491452</td>\n",
       "      <td>44.427502</td>\n",
       "      <td>34.483072</td>\n",
       "      <td>3.376377</td>\n",
       "      <td>5.558733</td>\n",
       "      <td>2.610149</td>\n",
       "      <td>9.443106</td>\n",
       "      <td>21.507037</td>\n",
       "      <td>8.290469</td>\n",
       "      <td>12.421295</td>\n",
       "      <td>34.505474</td>\n",
       "      <td>20.423261</td>\n",
       "      <td>14.300981</td>\n",
       "      <td>41.832800</td>\n",
       "      <td>31.900311</td>\n",
       "      <td>3.358180</td>\n",
       "      <td>6.846325</td>\n",
       "      <td>4.496813</td>\n",
       "      <td>10.905320</td>\n",
       "      <td>16.918835</td>\n",
       "      <td>8.132742</td>\n",
       "      <td>14.821140</td>\n",
       "      <td>24.601363</td>\n",
       "      <td>15.825642</td>\n",
       "      <td>17.408215</td>\n",
       "      <td>30.562533</td>\n",
       "      <td>26.027634</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <td>min</td>\n",
       "      <td>14.000000</td>\n",
       "      <td>17.000000</td>\n",
       "      <td>21.000000</td>\n",
       "      <td>18.000000</td>\n",
       "      <td>17.000000</td>\n",
       "      <td>15.000000</td>\n",
       "      <td>16.000000</td>\n",
       "      <td>14.000000</td>\n",
       "      <td>-1.173806</td>\n",
       "      <td>-36.801074</td>\n",
       "      <td>20.040024</td>\n",
       "      <td>-29.209002</td>\n",
       "      <td>-54.717502</td>\n",
       "      <td>20.863312</td>\n",
       "      <td>-57.954386</td>\n",
       "      <td>-50.631241</td>\n",
       "      <td>0.834045</td>\n",
       "      <td>-84.393305</td>\n",
       "      <td>-64.640541</td>\n",
       "      <td>-32.325830</td>\n",
       "      <td>-106.446093</td>\n",
       "      <td>-76.466019</td>\n",
       "      <td>-54.983887</td>\n",
       "      <td>-35.445511</td>\n",
       "      <td>-20.730328</td>\n",
       "      <td>-28.109680</td>\n",
       "      <td>-71.428963</td>\n",
       "      <td>-58.541824</td>\n",
       "      <td>-70.021435</td>\n",
       "      <td>-92.259822</td>\n",
       "      <td>-77.042549</td>\n",
       "      <td>-93.500700</td>\n",
       "      <td>-107.166021</td>\n",
       "      <td>-89.204859</td>\n",
       "      <td>-109.945290</td>\n",
       "      <td>-22.855350</td>\n",
       "      <td>-12.155167</td>\n",
       "      <td>-25.021950</td>\n",
       "      <td>-56.705952</td>\n",
       "      <td>-56.844780</td>\n",
       "      <td>-71.466098</td>\n",
       "      <td>-75.681870</td>\n",
       "      <td>-79.146027</td>\n",
       "      <td>-98.614571</td>\n",
       "      <td>-89.119637</td>\n",
       "      <td>-95.912731</td>\n",
       "      <td>-116.642448</td>\n",
       "      <td>-7.060419</td>\n",
       "      <td>-11.240997</td>\n",
       "      <td>-26.847574</td>\n",
       "      <td>-35.160936</td>\n",
       "      <td>-49.839066</td>\n",
       "      <td>-68.887894</td>\n",
       "      <td>-52.210419</td>\n",
       "      <td>-70.960037</td>\n",
       "      <td>-95.784557</td>\n",
       "      <td>-64.453278</td>\n",
       "      <td>-88.702026</td>\n",
       "      <td>-113.748749</td>\n",
       "      <td>7.493455</td>\n",
       "      <td>-18.891541</td>\n",
       "      <td>-37.043697</td>\n",
       "      <td>-17.501412</td>\n",
       "      <td>-48.466721</td>\n",
       "      <td>-69.166000</td>\n",
       "      <td>-17.062012</td>\n",
       "      <td>-65.865921</td>\n",
       "      <td>-88.387527</td>\n",
       "      <td>-26.224027</td>\n",
       "      <td>-79.350571</td>\n",
       "      <td>-105.164220</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <td>25%</td>\n",
       "      <td>62.000000</td>\n",
       "      <td>130.000000</td>\n",
       "      <td>205.000000</td>\n",
       "      <td>57.000000</td>\n",
       "      <td>29.000000</td>\n",
       "      <td>24.000000</td>\n",
       "      <td>38.000000</td>\n",
       "      <td>47.000000</td>\n",
       "      <td>25.464256</td>\n",
       "      <td>-9.192123</td>\n",
       "      <td>40.213889</td>\n",
       "      <td>1.102294</td>\n",
       "      <td>-24.846027</td>\n",
       "      <td>53.834327</td>\n",
       "      <td>-37.041234</td>\n",
       "      <td>-32.981850</td>\n",
       "      <td>22.267628</td>\n",
       "      <td>-65.207634</td>\n",
       "      <td>-46.819574</td>\n",
       "      <td>-5.717417</td>\n",
       "      <td>-87.020852</td>\n",
       "      <td>-57.069336</td>\n",
       "      <td>-24.731384</td>\n",
       "      <td>-33.796272</td>\n",
       "      <td>-0.227591</td>\n",
       "      <td>-13.777386</td>\n",
       "      <td>-54.878818</td>\n",
       "      <td>-24.600281</td>\n",
       "      <td>-47.448507</td>\n",
       "      <td>-64.459923</td>\n",
       "      <td>-45.728752</td>\n",
       "      <td>-62.077694</td>\n",
       "      <td>-71.219755</td>\n",
       "      <td>-54.843246</td>\n",
       "      <td>-72.592573</td>\n",
       "      <td>-15.497948</td>\n",
       "      <td>3.690994</td>\n",
       "      <td>-21.333833</td>\n",
       "      <td>-33.211518</td>\n",
       "      <td>-24.188110</td>\n",
       "      <td>-61.967606</td>\n",
       "      <td>-37.764737</td>\n",
       "      <td>-49.449472</td>\n",
       "      <td>-84.177072</td>\n",
       "      <td>-39.757528</td>\n",
       "      <td>-59.714851</td>\n",
       "      <td>-98.827839</td>\n",
       "      <td>6.088541</td>\n",
       "      <td>4.592411</td>\n",
       "      <td>-24.230943</td>\n",
       "      <td>-8.701032</td>\n",
       "      <td>-20.728189</td>\n",
       "      <td>-63.226620</td>\n",
       "      <td>-14.873233</td>\n",
       "      <td>-45.958847</td>\n",
       "      <td>-86.423722</td>\n",
       "      <td>-16.807121</td>\n",
       "      <td>-60.090098</td>\n",
       "      <td>-101.614295</td>\n",
       "      <td>26.634318</td>\n",
       "      <td>1.037529</td>\n",
       "      <td>-26.957542</td>\n",
       "      <td>17.481039</td>\n",
       "      <td>-18.290688</td>\n",
       "      <td>-57.044641</td>\n",
       "      <td>12.142347</td>\n",
       "      <td>-35.525097</td>\n",
       "      <td>-72.929963</td>\n",
       "      <td>9.635558</td>\n",
       "      <td>-48.892258</td>\n",
       "      <td>-87.403979</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <td>50%</td>\n",
       "      <td>85.000000</td>\n",
       "      <td>224.000000</td>\n",
       "      <td>367.000000</td>\n",
       "      <td>72.000000</td>\n",
       "      <td>33.000000</td>\n",
       "      <td>27.000000</td>\n",
       "      <td>61.000000</td>\n",
       "      <td>82.000000</td>\n",
       "      <td>29.320205</td>\n",
       "      <td>-1.326935</td>\n",
       "      <td>43.651794</td>\n",
       "      <td>6.294252</td>\n",
       "      <td>-15.437256</td>\n",
       "      <td>57.183935</td>\n",
       "      <td>-29.661003</td>\n",
       "      <td>-27.741006</td>\n",
       "      <td>29.681839</td>\n",
       "      <td>-44.874310</td>\n",
       "      <td>-39.685440</td>\n",
       "      <td>5.490408</td>\n",
       "      <td>-45.522243</td>\n",
       "      <td>-47.891426</td>\n",
       "      <td>-10.898830</td>\n",
       "      <td>-32.515923</td>\n",
       "      <td>2.322845</td>\n",
       "      <td>-10.861397</td>\n",
       "      <td>-48.805543</td>\n",
       "      <td>-11.317739</td>\n",
       "      <td>-42.504197</td>\n",
       "      <td>-49.113419</td>\n",
       "      <td>-31.605995</td>\n",
       "      <td>-50.363331</td>\n",
       "      <td>-45.194784</td>\n",
       "      <td>-41.340805</td>\n",
       "      <td>-49.395432</td>\n",
       "      <td>-13.440817</td>\n",
       "      <td>6.748276</td>\n",
       "      <td>-19.649437</td>\n",
       "      <td>-26.604908</td>\n",
       "      <td>-7.245209</td>\n",
       "      <td>-57.181927</td>\n",
       "      <td>-30.057656</td>\n",
       "      <td>-31.774274</td>\n",
       "      <td>-67.038597</td>\n",
       "      <td>-29.129768</td>\n",
       "      <td>-43.116165</td>\n",
       "      <td>-62.772160</td>\n",
       "      <td>8.407806</td>\n",
       "      <td>8.529388</td>\n",
       "      <td>-22.962090</td>\n",
       "      <td>-2.347433</td>\n",
       "      <td>-6.293060</td>\n",
       "      <td>-58.310085</td>\n",
       "      <td>-6.641951</td>\n",
       "      <td>-29.644135</td>\n",
       "      <td>-67.626310</td>\n",
       "      <td>-7.507334</td>\n",
       "      <td>-42.270111</td>\n",
       "      <td>-65.665516</td>\n",
       "      <td>28.914173</td>\n",
       "      <td>5.502762</td>\n",
       "      <td>-23.939777</td>\n",
       "      <td>24.558435</td>\n",
       "      <td>-7.116318</td>\n",
       "      <td>-52.751394</td>\n",
       "      <td>21.275871</td>\n",
       "      <td>-22.710798</td>\n",
       "      <td>-60.100315</td>\n",
       "      <td>18.669491</td>\n",
       "      <td>-34.792984</td>\n",
       "      <td>-59.887522</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <td>75%</td>\n",
       "      <td>114.000000</td>\n",
       "      <td>315.000000</td>\n",
       "      <td>503.000000</td>\n",
       "      <td>96.000000</td>\n",
       "      <td>39.000000</td>\n",
       "      <td>34.000000</td>\n",
       "      <td>89.000000</td>\n",
       "      <td>142.000000</td>\n",
       "      <td>33.635862</td>\n",
       "      <td>5.383482</td>\n",
       "      <td>46.156290</td>\n",
       "      <td>11.917446</td>\n",
       "      <td>-6.362585</td>\n",
       "      <td>58.964826</td>\n",
       "      <td>-19.711445</td>\n",
       "      <td>-22.678955</td>\n",
       "      <td>38.934124</td>\n",
       "      <td>-26.399396</td>\n",
       "      <td>-27.077342</td>\n",
       "      <td>23.325994</td>\n",
       "      <td>-26.538464</td>\n",
       "      <td>-26.672199</td>\n",
       "      <td>20.911366</td>\n",
       "      <td>-31.374881</td>\n",
       "      <td>4.905360</td>\n",
       "      <td>-7.397783</td>\n",
       "      <td>-41.702085</td>\n",
       "      <td>7.988907</td>\n",
       "      <td>-36.495644</td>\n",
       "      <td>-38.145176</td>\n",
       "      <td>4.985270</td>\n",
       "      <td>-37.467876</td>\n",
       "      <td>-31.918667</td>\n",
       "      <td>0.460692</td>\n",
       "      <td>-27.740125</td>\n",
       "      <td>-11.511037</td>\n",
       "      <td>10.209305</td>\n",
       "      <td>-17.466442</td>\n",
       "      <td>-21.100396</td>\n",
       "      <td>18.567596</td>\n",
       "      <td>-50.241138</td>\n",
       "      <td>-21.855739</td>\n",
       "      <td>18.766014</td>\n",
       "      <td>-46.214460</td>\n",
       "      <td>-18.482805</td>\n",
       "      <td>16.441040</td>\n",
       "      <td>-33.973488</td>\n",
       "      <td>10.547021</td>\n",
       "      <td>12.347712</td>\n",
       "      <td>-21.046442</td>\n",
       "      <td>3.729552</td>\n",
       "      <td>15.514128</td>\n",
       "      <td>-51.994847</td>\n",
       "      <td>1.549658</td>\n",
       "      <td>12.956273</td>\n",
       "      <td>-52.006588</td>\n",
       "      <td>1.549916</td>\n",
       "      <td>8.800751</td>\n",
       "      <td>-43.669001</td>\n",
       "      <td>30.952102</td>\n",
       "      <td>10.019836</td>\n",
       "      <td>-21.314622</td>\n",
       "      <td>32.979874</td>\n",
       "      <td>8.178963</td>\n",
       "      <td>-46.607693</td>\n",
       "      <td>33.103591</td>\n",
       "      <td>3.945347</td>\n",
       "      <td>-48.162994</td>\n",
       "      <td>33.156597</td>\n",
       "      <td>-1.484619</td>\n",
       "      <td>-41.925214</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <td>max</td>\n",
       "      <td>1145.000000</td>\n",
       "      <td>1103.000000</td>\n",
       "      <td>1447.000000</td>\n",
       "      <td>832.000000</td>\n",
       "      <td>263.000000</td>\n",
       "      <td>547.000000</td>\n",
       "      <td>773.000000</td>\n",
       "      <td>677.000000</td>\n",
       "      <td>49.439873</td>\n",
       "      <td>36.358187</td>\n",
       "      <td>53.246429</td>\n",
       "      <td>37.963276</td>\n",
       "      <td>31.215271</td>\n",
       "      <td>61.423996</td>\n",
       "      <td>10.016212</td>\n",
       "      <td>3.132317</td>\n",
       "      <td>61.060345</td>\n",
       "      <td>18.761269</td>\n",
       "      <td>15.494019</td>\n",
       "      <td>65.461411</td>\n",
       "      <td>32.782349</td>\n",
       "      <td>28.154663</td>\n",
       "      <td>77.677128</td>\n",
       "      <td>-20.141736</td>\n",
       "      <td>24.598724</td>\n",
       "      <td>8.109024</td>\n",
       "      <td>-8.149230</td>\n",
       "      <td>60.300873</td>\n",
       "      <td>18.866871</td>\n",
       "      <td>8.449905</td>\n",
       "      <td>80.803131</td>\n",
       "      <td>31.765396</td>\n",
       "      <td>20.273645</td>\n",
       "      <td>94.990204</td>\n",
       "      <td>39.135193</td>\n",
       "      <td>1.088182</td>\n",
       "      <td>20.899951</td>\n",
       "      <td>-4.994986</td>\n",
       "      <td>15.179621</td>\n",
       "      <td>66.522510</td>\n",
       "      <td>9.368416</td>\n",
       "      <td>23.346291</td>\n",
       "      <td>92.991241</td>\n",
       "      <td>28.075127</td>\n",
       "      <td>29.812757</td>\n",
       "      <td>110.145111</td>\n",
       "      <td>38.281386</td>\n",
       "      <td>21.108585</td>\n",
       "      <td>24.478546</td>\n",
       "      <td>-7.660660</td>\n",
       "      <td>41.459127</td>\n",
       "      <td>57.519470</td>\n",
       "      <td>-4.993519</td>\n",
       "      <td>53.751690</td>\n",
       "      <td>80.664154</td>\n",
       "      <td>16.840763</td>\n",
       "      <td>61.811590</td>\n",
       "      <td>95.599274</td>\n",
       "      <td>31.617199</td>\n",
       "      <td>38.401054</td>\n",
       "      <td>33.685211</td>\n",
       "      <td>-4.052677</td>\n",
       "      <td>65.209181</td>\n",
       "      <td>49.696991</td>\n",
       "      <td>-2.644793</td>\n",
       "      <td>79.325846</td>\n",
       "      <td>65.183319</td>\n",
       "      <td>13.661100</td>\n",
       "      <td>91.101200</td>\n",
       "      <td>78.300629</td>\n",
       "      <td>29.096052</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "                ch1           ch2           ch3           ch4           ch5  \\\n",
       "count  87307.000000  87307.000000  87307.000000  87307.000000  87307.000000   \n",
       "mean      98.388904    230.820908    368.751910     85.417676     34.897946   \n",
       "std       73.604855    125.627690    202.324127     53.414674     10.083990   \n",
       "min       14.000000     17.000000     21.000000     18.000000     17.000000   \n",
       "25%       62.000000    130.000000    205.000000     57.000000     29.000000   \n",
       "50%       85.000000    224.000000    367.000000     72.000000     33.000000   \n",
       "75%      114.000000    315.000000    503.000000     96.000000     39.000000   \n",
       "max     1145.000000   1103.000000   1447.000000    832.000000    263.000000   \n",
       "\n",
       "                ch6           ch7           ch8       Wrist x       Wrist y  \\\n",
       "count  87307.000000  87307.000000  87307.000000  87307.000000  87307.000000   \n",
       "mean      35.739402     75.562658    107.298281     29.213016     -1.978049   \n",
       "std       29.475146     63.142662     78.518723      6.492766     10.428856   \n",
       "min       15.000000     16.000000     14.000000     -1.173806    -36.801074   \n",
       "25%       24.000000     38.000000     47.000000     25.464256     -9.192123   \n",
       "50%       27.000000     61.000000     82.000000     29.320205     -1.326935   \n",
       "75%       34.000000     89.000000    142.000000     33.635862      5.383482   \n",
       "max      547.000000    773.000000    677.000000     49.439873     36.358187   \n",
       "\n",
       "            Wrist z  Thumb Proximal x  Thumb Proximal y  Thumb Proximal z  \\\n",
       "count  87307.000000      87307.000000      87307.000000      87307.000000   \n",
       "mean      43.092914          6.338477        -15.717597         55.518146   \n",
       "std        4.428743          8.376483         13.231117          4.958858   \n",
       "min       20.040024        -29.209002        -54.717502         20.863312   \n",
       "25%       40.213889          1.102294        -24.846027         53.834327   \n",
       "50%       43.651794          6.294252        -15.437256         57.183935   \n",
       "75%       46.156290         11.917446         -6.362585         58.964826   \n",
       "max       53.246429         37.963276         31.215271         61.423996   \n",
       "\n",
       "       Thumb Intermediate x  Thumb Intermediate y  Thumb Intermediate z  \\\n",
       "count          87307.000000          87307.000000          87307.000000   \n",
       "mean             -28.631988            -27.742389             30.522882   \n",
       "std               10.802663              7.438173             10.068328   \n",
       "min              -57.954386            -50.631241              0.834045   \n",
       "25%              -37.041234            -32.981850             22.267628   \n",
       "50%              -29.661003            -27.741006             29.681839   \n",
       "75%              -19.711445            -22.678955             38.934124   \n",
       "max               10.016212              3.132317             61.060345   \n",
       "\n",
       "       Thumb Distal x  Thumb Distal y  Thumb Distal z   Thumb Tip x  \\\n",
       "count    87307.000000    87307.000000    87307.000000  87307.000000   \n",
       "mean       -45.607641      -36.811752        9.183224    -54.461058   \n",
       "std         19.824384       12.547306       17.897547     30.877007   \n",
       "min        -84.393305      -64.640541      -32.325830   -106.446093   \n",
       "25%        -65.207634      -46.819574       -5.717417    -87.020852   \n",
       "50%        -44.874310      -39.685440        5.490408    -45.522243   \n",
       "75%        -26.399396      -27.077342       23.325994    -26.538464   \n",
       "max         18.761269       15.494019       65.461411     32.782349   \n",
       "\n",
       "        Thumb Tip y   Thumb Tip z  Index Proximal x  Index Proximal y  \\\n",
       "count  87307.000000  87307.000000      87307.000000      87307.000000   \n",
       "mean     -42.116109     -1.983777        -32.378298          2.364101   \n",
       "std       18.124090     26.746418          1.955490          3.955674   \n",
       "min      -76.466019    -54.983887        -35.445511        -20.730328   \n",
       "25%      -57.069336    -24.731384        -33.796272         -0.227591   \n",
       "50%      -47.891426    -10.898830        -32.515923          2.322845   \n",
       "75%      -26.672199     20.911366        -31.374881          4.905360   \n",
       "max       28.154663     77.677128        -20.141736         24.598724   \n",
       "\n",
       "       Index Proximal z  Index Intermediate x  Index Intermediate y  \\\n",
       "count      87307.000000          87307.000000          87307.000000   \n",
       "mean         -10.735029            -48.147197             -8.134466   \n",
       "std            4.749763              9.638207             19.623244   \n",
       "min          -28.109680            -71.428963            -58.541824   \n",
       "25%          -13.777386            -54.878818            -24.600281   \n",
       "50%          -10.861397            -48.805543            -11.317739   \n",
       "75%           -7.397783            -41.702085              7.988907   \n",
       "max            8.109024             -8.149230             60.300873   \n",
       "\n",
       "       Index Intermediate z  Index Distal x  Index Distal y  Index Distal z  \\\n",
       "count          87307.000000    87307.000000    87307.000000    87307.000000   \n",
       "mean             -41.700661      -50.592472      -20.581370      -49.056009   \n",
       "std                8.623767       17.284198       30.062184       16.467136   \n",
       "min              -70.021435      -92.259822      -77.042549      -93.500700   \n",
       "25%              -47.448507      -64.459923      -45.728752      -62.077694   \n",
       "50%              -42.504197      -49.113419      -31.605995      -50.363331   \n",
       "75%              -36.495644      -38.145176        4.985270      -37.467876   \n",
       "max               18.866871        8.449905       80.803131       31.765396   \n",
       "\n",
       "        Index Tip x   Index Tip y   Index Tip z  Middle Proximal x  \\\n",
       "count  87307.000000  87307.000000  87307.000000       87307.000000   \n",
       "mean     -50.035390    -27.477760    -49.279445         -13.383464   \n",
       "std       23.782608     35.136859     25.864060           3.054578   \n",
       "min     -107.166021    -89.204859   -109.945290         -22.855350   \n",
       "25%      -71.219755    -54.843246    -72.592573         -15.497948   \n",
       "50%      -45.194784    -41.340805    -49.395432         -13.440817   \n",
       "75%      -31.918667      0.460692    -27.740125         -11.511037   \n",
       "max       20.273645     94.990204     39.135193           1.088182   \n",
       "\n",
       "       Middle Proximal y  Middle Proximal z  Middle Intermediate x  \\\n",
       "count       87307.000000       87307.000000           87307.000000   \n",
       "mean            6.886102         -19.216034             -26.795483   \n",
       "std             4.615830           2.861798               9.294901   \n",
       "min           -12.155167         -25.021950             -56.705952   \n",
       "25%             3.690994         -21.333833             -33.211518   \n",
       "50%             6.748276         -19.649437             -26.604908   \n",
       "75%            10.209305         -17.466442             -21.100396   \n",
       "max            20.899951          -4.994986              15.179621   \n",
       "\n",
       "       Middle Intermediate y  Middle Intermediate z  Middle Distal x  \\\n",
       "count           87307.000000           87307.000000     87307.000000   \n",
       "mean               -3.084817             -55.416716       -29.775542   \n",
       "std                24.130874               9.063874        13.075726   \n",
       "min               -56.844780             -71.466098       -75.681870   \n",
       "25%               -24.188110             -61.967606       -37.764737   \n",
       "50%                -7.245209             -57.181927       -30.057656   \n",
       "75%                18.567596             -50.241138       -21.855739   \n",
       "max                66.522510               9.368416        23.346291   \n",
       "\n",
       "       Middle Distal y  Middle Distal z  Middle Tip x  Middle Tip y  \\\n",
       "count     87307.000000     87307.000000  87307.000000  87307.000000   \n",
       "mean        -16.695113       -64.026095    -29.540629    -23.679955   \n",
       "std          37.949108        22.261641     16.491452     44.427502   \n",
       "min         -79.146027       -98.614571    -89.119637    -95.912731   \n",
       "25%         -49.449472       -84.177072    -39.757528    -59.714851   \n",
       "50%         -31.774274       -67.038597    -29.129768    -43.116165   \n",
       "75%          18.766014       -46.214460    -18.482805     16.441040   \n",
       "max          92.991241        28.075127     29.812757    110.145111   \n",
       "\n",
       "       Middle Tip z  Ring Proximal x  Ring Proximal y  Ring Proximal z  \\\n",
       "count  87307.000000     87307.000000     87307.000000     87307.000000   \n",
       "mean     -64.238932         8.320505         8.538327       -22.465195   \n",
       "std       34.483072         3.376377         5.558733         2.610149   \n",
       "min     -116.642448        -7.060419       -11.240997       -26.847574   \n",
       "25%      -98.827839         6.088541         4.592411       -24.230943   \n",
       "50%      -62.772160         8.407806         8.529388       -22.962090   \n",
       "75%      -33.973488        10.547021        12.347712       -21.046442   \n",
       "max       38.281386        21.108585        24.478546        -7.660660   \n",
       "\n",
       "       Ring Intermediate x  Ring Intermediate y  Ring Intermediate z  \\\n",
       "count         87307.000000         87307.000000         87307.000000   \n",
       "mean             -2.448352            -2.533319           -56.649972   \n",
       "std               9.443106            21.507037             8.290469   \n",
       "min             -35.160936           -49.839066           -68.887894   \n",
       "25%              -8.701032           -20.728189           -63.226620   \n",
       "50%              -2.347433            -6.293060           -58.310085   \n",
       "75%               3.729552            15.514128           -51.994847   \n",
       "max              41.459127            57.519470            -4.993519   \n",
       "\n",
       "       Ring Distal x  Ring Distal y  Ring Distal z    Ring Tip x  \\\n",
       "count   87307.000000   87307.000000   87307.000000  87307.000000   \n",
       "mean       -6.468730     -16.936305     -66.931157     -7.480668   \n",
       "std        12.421295      34.505474      20.423261     14.300981   \n",
       "min       -52.210419     -70.960037     -95.784557    -64.453278   \n",
       "25%       -14.873233     -45.958847     -86.423722    -16.807121   \n",
       "50%        -6.641951     -29.644135     -67.626310     -7.507334   \n",
       "75%         1.549658      12.956273     -52.006588      1.549916   \n",
       "max        53.751690      80.664154      16.840763     61.811590   \n",
       "\n",
       "         Ring Tip y    Ring Tip z  Pinky Proximal x  Pinky Proximal y  \\\n",
       "count  87307.000000  87307.000000      87307.000000      87307.000000   \n",
       "mean     -26.030419    -68.676701         28.720582          5.655851   \n",
       "std       41.832800     31.900311          3.358180          6.846325   \n",
       "min      -88.702026   -113.748749          7.493455        -18.891541   \n",
       "25%      -60.090098   -101.614295         26.634318          1.037529   \n",
       "50%      -42.270111    -65.665516         28.914173          5.502762   \n",
       "75%        8.800751    -43.669001         30.952102         10.019836   \n",
       "max       95.599274     31.617199         38.401054         33.685211   \n",
       "\n",
       "       Pinky Proximal z  Pinky Intermediate x  Pinky Intermediate y  \\\n",
       "count      87307.000000          87307.000000          87307.000000   \n",
       "mean         -23.983027             25.345314             -4.794897   \n",
       "std            4.496813             10.905320             16.918835   \n",
       "min          -37.043697            -17.501412            -48.466721   \n",
       "25%          -26.957542             17.481039            -18.290688   \n",
       "50%          -23.939777             24.558435             -7.116318   \n",
       "75%          -21.314622             32.979874              8.178963   \n",
       "max           -4.052677             65.209181             49.696991   \n",
       "\n",
       "       Pinky Intermediate z  Pinky Distal x  Pinky Distal y  Pinky Distal z  \\\n",
       "count          87307.000000    87307.000000    87307.000000    87307.000000   \n",
       "mean             -51.510902       23.263800      -15.472831      -59.360168   \n",
       "std                8.132742       14.821140       24.601363       15.825642   \n",
       "min              -69.166000      -17.062012      -65.865921      -88.387527   \n",
       "25%              -57.044641       12.142347      -35.525097      -72.929963   \n",
       "50%              -52.751394       21.275871      -22.710798      -60.100315   \n",
       "75%              -46.607693       33.103591        3.945347      -48.162994   \n",
       "max               -2.644793       79.325846       65.183319       13.661100   \n",
       "\n",
       "        Pinky Tip x   Pinky Tip y   Pinky Tip z  \n",
       "count  87307.000000  87307.000000  87307.000000  \n",
       "mean      22.101772    -24.692609    -61.827718  \n",
       "std       17.408215     30.562533     26.027634  \n",
       "min      -26.224027    -79.350571   -105.164220  \n",
       "25%        9.635558    -48.892258    -87.403979  \n",
       "50%       18.669491    -34.792984    -59.887522  \n",
       "75%       33.156597     -1.484619    -41.925214  \n",
       "max       91.101200     78.300629     29.096052  "
      ]
     },
     "execution_count": 7,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "df.describe()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [],
   "source": [
    "feature_ar = df.loc[:, 'ch1':'ch8'].values\n",
    "label_ar = df.loc[:, 'Wrist x':].values"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(87307, 8)"
      ]
     },
     "execution_count": 9,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "feature_ar.shape"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(87307, 63)"
      ]
     },
     "execution_count": 10,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "label_ar.shape"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "From the above evaluation the initial untrained loss is around 2500.\n",
    "Now train the model:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "(87276, 32, 8)\n",
      "(87276, 63)\n"
     ]
    }
   ],
   "source": [
    "seq_length = 32\n",
    "\n",
    "def overlap_samples(seq_length, feats, labels):\n",
    "    new_l = labels[seq_length - 1:]\n",
    "    feat_list = [feats[i:i + seq_length] for i in range(feats.shape[0] - seq_length + 1)]\n",
    "    new_f = np.array(feat_list)\n",
    "    return new_f, new_l\n",
    "\n",
    "features, labels = overlap_samples(seq_length, feature_ar, label_ar)\n",
    "print(features.shape)\n",
    "print(labels.shape)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Large FC Architecture"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 23,
   "metadata": {},
   "outputs": [],
   "source": [
    "model_fc = tf.keras.models.Sequential()\n",
    "model_fc.add(LSTM(256, return_sequences=True, input_shape=(seq_length, 8)))\n",
    "model_fc.add(Dropout(0.5))\n",
    "model_fc.add(LSTM(256, return_sequences=True))\n",
    "model_fc.add(Dropout(0.5))\n",
    "model_fc.add(LSTM(128))\n",
    "model_fc.add(BatchNormalization())\n",
    "model_fc.add(Dense(512, input_dim=128))\n",
    "model_fc.add(Activation('relu'))\n",
    "model_fc.add(BatchNormalization())\n",
    "model_fc.add(Dropout(0.5))\n",
    "model_fc.add(Dense(512, input_dim=512))\n",
    "model_fc.add(Activation('relu'))\n",
    "model_fc.add(BatchNormalization())\n",
    "model_fc.add(Dropout(0.5))\n",
    "model_fc.add(Dense(256, input_dim=512))\n",
    "model_fc.add(Activation('relu'))\n",
    "model_fc.add(Dropout(0.3))\n",
    "model_fc.add(Dense(63, input_dim=64))\n",
    "    \n",
    "model_fc.compile(optimizer='Adam', loss='mse')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 24,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Model: \"sequential_2\"\n",
      "_________________________________________________________________\n",
      "Layer (type)                 Output Shape              Param #   \n",
      "=================================================================\n",
      "lstm_6 (LSTM)                (None, 32, 256)           271360    \n",
      "_________________________________________________________________\n",
      "dropout_10 (Dropout)         (None, 32, 256)           0         \n",
      "_________________________________________________________________\n",
      "lstm_7 (LSTM)                (None, 32, 256)           525312    \n",
      "_________________________________________________________________\n",
      "dropout_11 (Dropout)         (None, 32, 256)           0         \n",
      "_________________________________________________________________\n",
      "lstm_8 (LSTM)                (None, 128)               197120    \n",
      "_________________________________________________________________\n",
      "batch_normalization_6 (Batch (None, 128)               512       \n",
      "_________________________________________________________________\n",
      "dense_8 (Dense)              (None, 512)               66048     \n",
      "_________________________________________________________________\n",
      "activation_6 (Activation)    (None, 512)               0         \n",
      "_________________________________________________________________\n",
      "batch_normalization_7 (Batch (None, 512)               2048      \n",
      "_________________________________________________________________\n",
      "dropout_12 (Dropout)         (None, 512)               0         \n",
      "_________________________________________________________________\n",
      "dense_9 (Dense)              (None, 512)               262656    \n",
      "_________________________________________________________________\n",
      "activation_7 (Activation)    (None, 512)               0         \n",
      "_________________________________________________________________\n",
      "batch_normalization_8 (Batch (None, 512)               2048      \n",
      "_________________________________________________________________\n",
      "dropout_13 (Dropout)         (None, 512)               0         \n",
      "_________________________________________________________________\n",
      "dense_10 (Dense)             (None, 256)               131328    \n",
      "_________________________________________________________________\n",
      "activation_8 (Activation)    (None, 256)               0         \n",
      "_________________________________________________________________\n",
      "dropout_14 (Dropout)         (None, 256)               0         \n",
      "_________________________________________________________________\n",
      "dense_11 (Dense)             (None, 63)                16191     \n",
      "=================================================================\n",
      "Total params: 1,474,623\n",
      "Trainable params: 1,472,319\n",
      "Non-trainable params: 2,304\n",
      "_________________________________________________________________\n"
     ]
    }
   ],
   "source": [
    "model_fc.summary()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 26,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Train on 69820 samples, validate on 17456 samples\n",
      "69820/69820 [==============================] - 218s 3ms/sample - loss: 134.2580 - val_loss: 186.9120\n"
     ]
    }
   ],
   "source": [
    "history = model_fc.fit(features, labels, batch_size=512, epochs=5, verbose=1, validation_split=0.2)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Visual Model Error\n",
    "A similar visualizion is now done on this new more restricted model. These errors show 20% - 25% improvement on fingertip y position."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 27,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.legend.Legend at 0x151d20cc0>"
      ]
     },
     "execution_count": 27,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.plot(history.history['loss'])\n",
    "plt.plot(history.history['val_loss'])\n",
    "plt.legend(['Train', 'Test'])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 28,
   "metadata": {},
   "outputs": [],
   "source": [
    "preds = model_fc.predict(features)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 29,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 1080x720 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "error = labels - preds\n",
    "sq_error = error * error\n",
    "avg_error = np.mean(sq_error, axis=0)\n",
    "plt.figure(figsize=(15, 10))\n",
    "plt.xticks(rotation=90)\n",
    "plt.ylabel('Prediction Error (mm)')\n",
    "bar = plt.bar(df.columns[8:], avg_error)\n",
    "for i in range(0,63,3):\n",
    "    bar[i].set_color('coral')\n",
    "    bar[i+1].set_color('olivedrab')\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {},
   "outputs": [],
   "source": [
    "model_fc.save('FC_5seg_all_joints_model.h5')"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.7.3"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}