15.7 14.1.6 Anclas derivadas
| Ancla | Cálculo | Uso | Advertencia |
|---|---|---|---|
pelvis_center |
midpoint(left_hip,right_hip) | body root COM proxy |
— |
shoulder_center |
midpoint(left_shoulder,right_shoulder) | torso axis | — |
torso_center |
midpoint(pelvis_center,shoulder_center) | body orientation | — |
head_center |
robust centroid(nose,eyes,ears) | head orientation | — |
left_hand_contact_proxy |
closest/fused visible hand point or hand-mask contact centroid | hold contact | — |
right_hand_contact_proxy |
closest/fused visible hand point or hand-mask contact centroid | hold contact | — |
left_foot_contact_proxy |
shoe-mask contact centroid; fallback from heel/foot_index/ankle geometry | foothold contact | — |
right_foot_contact_proxy |
shoe-mask contact centroid; fallback from heel/foot_index/ankle geometry | foothold contact | — |
com_proxy |
segment-mass weighted centroid with declared anthropometric table | trajectory and balance | Not a force measurement. |
support_centroid |
weighted centroid of currently loaded contacts | stability proxy | — |
Las anclas derivadas deben registrar qué landmarks y qué versión del
algoritmo las generaron. com_proxy es una estimación
cinemática; no equivale al centro de presión ni permite calcular fuerza
de contacto sin sensores adicionales.