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For reference, here are the unit vectors of the OpenVR rotation matrix overlayed on top of the coordinate system diagram from the Vive Tracker Developers Guidelines.

This is very helpful and matches what actually comes out of OpenVR. Can you please add the Vive Tracker to the diagrams in the pdf above? The image in the developers guide has a "dancing ballerina" optical illusion that can happy, causing ambiguous interpretations of the axes. Also, it doesn't represent what OpenVR spits out.