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A. Root Mean Square Errors (RMSE) between the standard deviation of timing errors simulated based on different motor errors (between 0.00 and 0.07 s) and the standard deviation of observed timing errors. B. Root mean square errors (RMSE) between the standard deviation of timing errors simulated based on different standard deviations of the gravity prior between 0.15 and 0.25*9.81 m/s2 and the standard deviation of observed timing errors.
