> For the complete documentation index, see [llms.txt](https://docs.optitrack.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.optitrack.com/v1.1/motive-ui-pages/joint-angle-recorder.md).
# Joint Angle Recorder
## Joint Angle Recorder
***
#### PeelSolve Settings
Threads: The number of processor threads that Peelsolve uses. Raising this may improve accuracy, but degrade performance. Adjustment should only be made sparingly.
Iterations: The number of iterations Peelsolve performs per frame to globally fit the skeleton to markers. Setting this higher may improve Peelsolve results at the cost of higher calculation times..
Methods: Sets the calculation method used for global optimization. Valid options are Matrix, Secant, Descent. Matrix will be the quickest and Descent will be the slowest, however Descent will provide the most optimal results.
Gradient Samples: Sets the number of gradient samples used for global optimization.
#### Joint Settings
Translation DOF: Allows the joint to move along the X, Y, or Z axis. Standard settings for these will be true for the root bone and false on all others.
Translation Stiffness: A modifier to the stiffness of the Joints, causing resistance to moving along certain axes. Default is 0. Higher values will cause additional stiffness in the joints.
Rotation DOF: Sets the axes rotation in joints is allowed on. Ball-socket joints such as hips and shoulders will have rotation on all three axes, while hinge joints such as knees and elbows will only have rotation on one or two.
Rotation Stiffness: A modifier to the stiffness of the Joints, causing resistance to rotation. Default is 0. Higher values will cause additional stiffness in the joints.
Length DOF: Sets the ability for joints to stretch or shrink as necessary. This setting is useful for joints on bones like the spine.
Length: Specifies the movement per axis allowed if Length DOF is enabled.
Length Stiffness: A modifier to the stiffness of the joint stretch when Length DOF is enabled. Default is 0. Higher values will cause additional stiffness in the joints.
Segment Scale Compensate: Applies the inverse of the parents scale to the joint, effectively making scaling local.
#### Marker Settings
Marker Translation Weight: Specifies how much the particular marker influences the solving. Raising the value of a particular marker above others will cause that marker to have more consideration in the movement of the joint. Values range from 0 to 1.
---
# Agent Instructions
This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com.
## Querying This Documentation
If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.
Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter:
```
GET https://docs.optitrack.com/v1.1/motive-ui-pages/joint-angle-recorder.md?ask=&goal=
```
`ask` is the immediate question: it should be specific, self-contained, and written in natural language.
`goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.
Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.
