Hardware build record

cubesky

I recalibrate K-Ceptor in a park. Now, I will test default biped configuation again.

cubesky

Sorry for delay about 1 month, I'm busy on my job this month. And @YJBeetle is also busy for his job too.

This month, we made an PCB for finger sensor test, this PCB is soldered but doesn't test. I will test it these weeks.

And I entrust a PCB designer to design a Hub using CM4, you can see the image in the pervious post (Powering by a lead storage battery). It allowed powered by USB Type-C or a PH2.0-2P connector with 5V to 24V battery and switch between them online. (This port will connect to 18650 battery at last.)

No, I got the same result like pervious video. Rotation and movement not correct.

I recalibrate all K-Ceptor facing south too, but there is no change.

I talk to @ShiroSaki with this problem, she think this is a software issue on blender addon during calculate the quaternion.

@daylanKifky

daylanKifky

cubesky And I entrust a PCB designer to design a Hub using CM4

That's really neat. Would love to know more about this project.

cubesky No, I got the same result like pervious video. Rotation and movement not correct.

I recalibrate all K-Ceptor facing south too, but there is no change.

It's a pose-calibration issue for sure. We are currently working implementing the pose-calibration algorithm in the blender addon and we will be releasing a beta really soon. This new calibration can be performed looking at any cardinal point and it solves many issues with the current one.

In the meantime have you tried doing the T-pose looking other cardinal points? like East or West

daylanKifky

Hi @cubesky is good to know you are back testing the suit

cubesky I use the latest notochord, but notochord --scan <IP> says.

This can be fixed by modifying the typedefs in lib/ospack_1_1_0/osc/OscTypes.h the osc::int32 should be a 4 bytes integer.

cubesky Blender Addon can only run on Blender 2.93 LTS, not Blender 3.01.

Could you please let us know which error are you getting and in which platform are you running Blender?

cubesky

daylanKifky
I running Blender on Windows, using Blender 3.01. Demo data can not move Test Cube.

cubesky

daylanKifky That's really neat. Would love to know more about this project.

There are a few problem now, I trying to solve it. He designed the PCB in Altium Desiger, I will transfrom it to KiCad if I can.

daylanKifky In the meantime have you tried doing the T-pose looking other cardinal points? like East or West

Yes, all cardinal is tested, divided by 45deg, but no luck. 🙁

cubesky

daylanKifky
Is there any ETA for this addon release?

daylanKifky

cubesky I running Blender on Windows, using Blender 3.01. Demo data can not move Test Cube.

If it's just that there's probably a firewall blocking the incoming osc messages for Blender at port 6565.
Did you get any crashes of error messages from the addon?

cubesky

daylanKifky
I will check the blender console later. I'm using demo data mode in Blender Addon, not osc message, and I already disabled firewall on my PC.

cubesky

daylanKifky
It seems this is a random problem or addon conflict with other addon. I reinstall addon and the issue is gone.

daylanKifky

Most of the code is already implemented in the public repo, branch new_calibration. We are currently fixing some minor details and expect to have a more stable version next week. We'll also do a video showing how to perform this new calibration procedure

cubesky

daylanKifky Oh, That's great. I find that CI on Blender Addon Gitlab Repo says new_calibration branch is failed to compile, so I doesn't test that version. If this new version is release, I will test it ASAP.

cubesky

I don't know why these bones is in red color.

cubesky

I find some information for RPi4 with core_freq and i2c frequency is difference with Pi3, is there any config need to change when using Pi4?

I try to change core_freq and core_freq_min to 250, and i2c_bandure to 7000000. notochord doesn't find eeprom.

And I notice an warning appearing when start notochord.

bcm2835_init: gpio mmap failed: Cannot allocate memory

But notochord continue to run.

I find that blender addon on new_calibration branch. dependencies.py has error, deps array should use matplotlib, not mathplotlib.

cubesky

This there any information for new addon?

daylanKifky

Hi @cubesky
sorry for the delay, we were making some adjustments in the algorithm based on the internal testing. There's now an alpha version available to download, more info here: https://forum.chordata.cc/d/62-new-blender-2-8-chordata-node-system-addon/34

cubesky

daylanKifky
That's great, I will test it this week!

cubesky

daylanKifky

Sorry for delay. I just install the latest blender addon and test following https://forum.chordata.cc/d/62-new-blender-2-8-chordata-node-system-addon/35.

I'm using RPi4 not RPi3.

Blender Addon missing some dependencies pandas scikit-learn and numpy >= 1.17.3.

This addon new calibration process failed, and it output some logs to console window.

2022-04-05 21:06:04,031 - INFO - Chordata Armature_Manager init with ['Armature'] armature object
Chordata Armature_Manager init with ['Armature'] armature object
2022-04-05 21:06:04,032 - INFO - COPP_Server listening at port 6565
COPP_Server listening at port 6565
2022-04-05 21:06:04,033 - INFO - Receiving thread started
Receiving thread started
>> Start calibration STATIC at sample: 0
<< End calibration STATIC at sample: 0
>> Start calibration ARMS at sample: 0
<< End calibration ARMS at sample: 0
>> Start calibration TRUNK at sample: 0
<< End calibration TRUNK at sample: 0
>> Start calibration LEGS at sample: 0
<< End calibration LEGS at sample: 0
****DOING CALIBRATION*****
Labels in DF: []
Labels in DF: []
D:\Program\blender-2.82-windows64\2.82\python\lib\site-packages\numpy\core\_methods.py:217: RuntimeWarning: Degrees of freedom <= 0 for slice
  keepdims=keepdims)
D:\Program\blender-2.82-windows64\2.82\python\lib\site-packages\numpy\core\_methods.py:186: RuntimeWarning: invalid value encountered in true_divide
  arrmean, rcount, out=arrmean, casting='unsafe', subok=False)
D:\Program\blender-2.82-windows64\2.82\python\lib\site-packages\numpy\core\_methods.py:209: RuntimeWarning: invalid value encountered in double_scalars
  ret = ret.dtype.type(ret / rcount)
2022-04-05 21:07:02,161 - ERROR - An error was found during the pose-calibration process
Traceback (most recent call last):
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\ops\calibration_manager.py", line 220, in run
    self.indexes, calib_settings.fc, log=log_calib)
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\pose-calibration\calibration\core.py", line 82, in __init__
    self.dt = self.calculate_delta_time()
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\pose-calibration\calibration\core.py", line 117, in calculate_delta_time
    assert np.std(dts) < 0.0001, "The calculated delta times do not match"
AssertionError: The calculated delta times do not match

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\ops\base.py", line 205, in modal
    self._modal(context, event)
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\ops\notochord_ops.py", line 78, in _modal
    self.engine.engine_root(packet)
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\ops\engine.py", line 253, in __call__
    return self.process_packet(packet)
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\ops\engine.py", line 259, in process_packet
    child(ret)
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\ops\engine.py", line 253, in __call__
    return self.process_packet(packet)
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\ops\engine.py", line 256, in process_packet
    ret = self.exposed_handlers[packet.target](packet=packet)
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\nodes\armature.py", line 362, in process_quats
    self.armature_manager.calibrate(self.id_settings.calib)
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\ops\armature_manager.py", line 256, in calibrate
    pre_calib, post_calib = self.calib_manager.run(calib_settings)
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\ops\calibration_manager.py", line 228, in run
    raise Calibration_error("Error running pose-calibration algorithm, see console for details")
chordata.defaults.Calibration_error: Error running pose-calibration algorithm, see console for details

An error was found during the pose-calibration process
Traceback (most recent call last):
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\ops\calibration_manager.py", line 220, in run
    self.indexes, calib_settings.fc, log=log_calib)
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\pose-calibration\calibration\core.py", line 82, in __init__
    self.dt = self.calculate_delta_time()
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\pose-calibration\calibration\core.py", line 117, in calculate_delta_time
    assert np.std(dts) < 0.0001, "The calculated delta times do not match"
AssertionError: The calculated delta times do not match

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\ops\base.py", line 205, in modal
    self._modal(context, event)
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\ops\notochord_ops.py", line 78, in _modal
    self.engine.engine_root(packet)
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\ops\engine.py", line 253, in __call__
    return self.process_packet(packet)
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\ops\engine.py", line 259, in process_packet
    child(ret)
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\ops\engine.py", line 253, in __call__
    return self.process_packet(packet)
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\ops\engine.py", line 256, in process_packet
    ret = self.exposed_handlers[packet.target](packet=packet)
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\nodes\armature.py", line 362, in process_quats
    self.armature_manager.calibrate(self.id_settings.calib)
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\ops\armature_manager.py", line 256, in calibrate
    pre_calib, post_calib = self.calib_manager.run(calib_settings)
  File "C:\Users\max_3\AppData\Roaming\Blender Foundation\Blender\2.82\scripts\addons\chordata\ops\calibration_manager.py", line 228, in run
    raise Calibration_error("Error running pose-calibration algorithm, see console for details")
chordata.defaults.Calibration_error: Error running pose-calibration algorithm, see console for details

2022-04-05 21:07:02,173 - INFO - Socket closed
Socket closed
2022-04-05 21:07:02,173 - INFO - Receiving thread ended
Receiving thread ended

Only calibration_result.log generated. But it only one line.

Labels in DF: []

Chordata Engine stopped with error on the end of calibration.

All the connection and K-Ceptor is fixed the same as https://forum.chordata.cc/d/143-hardware-build-record/92 video, and calibrate with another people for help.

In your video, K-Ceptor fixed pose is difference with me, is it matter?

daylanKifky

Hi!

cubesky Blender Addon missing some dependencies pandas scikit-learn and numpy >= 1.17.3.

Those should be installed the first time you try to init a mocap session (like when you add a new avatar to the scene). Perhaps that's something that you skipped because you opened the blend file I attached, which has the avatar already in the scene

Did you by chance installed those dependencies manually? Is you did so please uninstall them, try the auto deps installation and tell us how it went (you will probably need to close and reopen blender)

cubesky This addon new calibration process failed, and it output some logs to console window.

I forgot one detail: the notochord should be executed with the --raw flag in order to use this new calibration. Also, could you tell me the notochord version and hash?

cubesky In your video, K-Ceptor fixed pose is difference with me, is it matter?

Yes! the position of those sensor is really important and they strongly influence the rest of the pose. The dorsal one should be positioned touching the spine between the shoulder blades in a way that their movement affects as little as possible the rotation of the KC.

The base one should be positioned touching the sacrum in the point where the gluteus influence is minimal.

As a rule of thumb the sensors should be positioned in the body in the points where the influence of muscles and soft tissue is as minimal as possible. The sensors should be firmly attached, making sure they don't move or slide during the sessions. From your photo it looks like they are just held in place by the tension of the elastic strap, but they are allowed to move underneath it. I suggest that you sew or glue the KCs to the strap in order for them to stay in place. Also, short cables will probably pull the KCs and change their position, make sure you have loose cables.

cubesky

daylanKifky
No, I install the addon first, and then click init mocap session. And then restart blender and open the blender file. These dependencies is missing.

I'm using the latest develop branch ec0172a0 notochord.

daylanKifky As a rule of thumb the sensors should be positioned in the body in the points where the influence of muscles and soft tissue is as minimal as possible. The sensors should be firmly attached, making sure they don't move or slide during the sessions. From your photo it looks like they are just held in place by the tension of the elastic strap, but they are allowed to move underneath it. I suggest that you sew or glue the KCs to the strap in order for them to stay in place. Also, short cables will probably pull the KCs and change their position, make sure you have loose cables.

I remake all the cables and make sure the KCs not slide.

My KC base is mount with in at top, out at bottom. In your video, KC base is mount with in at left and out at right, is it matter?

daylanKifky

Please let me know your blender version and operating system

and when you init mocap session do you get a popup like this one?

Any error messages you get during the dependencies install procedure, as blender popups or console messages would help to diagnose the problem

cubesky My KC base is mount with in at top, out at bottom. In your video, KC base is mount with in at left and out at right, is it matter?

No, the orientation is not important as long as it stays constant during all the calibration and capture session.

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