Inaccurate motion in blender and notochord update

kmw199614

I am experiencing inaccurate motion capture with the default biped configuration when in blender. The T pose calibrates fine, but then the legs seem to bend into (intersect) each other when they should be straight, after doing some simple motions (e.g. taking a few steps) and the overall motion of the k-captors seems visibly shaky and not smooth. This leads to having to click “calibrate” after every single motion or so. I calibrated the individual k-cpetors, and they behave well individually with the kceptor model (no drift, smooth motion). It seems like when we use the biped configuration it becomes inaccurate.

I was wondering if this could be solved with the updated sensor fusion algorithm and how to install the updated notochord? Does the image need to be reflashed on the SD card to update, and will I need to recalibrate the system after that?

daylanKifky

kmw199614
we have also detected the default_biped behaving inconsistently and are currently working in the problem from several fronts.
A new pose calibration algorithm is being developed, and a more detailed testing of the sensor fusion outcome is being carried on for the development of the new notochord as a python module.

We have also applied some fixes to the current notochord, and a new version will be released soon. When it's released we will communicate the steps for upgrade

kmw199614

daylanKifky hello! I wanted to check in to see if there are any updates on the new notochord you mentioned above, or ways I can try and fix this issue? Thanks!

daylanKifky

Hi kmw199614, sorry for missing this issue.
A new version of the notochord (0.2.1) is already published in the gitlab repositories.
Among other changes, this version comes with magnetic correction step disabled by default, we noticed that it was behaving inconsistently in some scenarios. That might be causing your issue.

In order to update:

Check if you made any changes to the notochord folder by running git status. If you see a changed file you want to keep back it up by copying it in some other place, for example cp <the_file_you_want_to_keep> ~ will make a copy the raspberry's home dir

Update and compile (this step will remove your local changes if any)

cd notochord
git stash
git checkout develop
git pull
scons -j3

Wait until the compilation is complete, you should have the current version of the notochord (The startup banner should include v0.2.1)

Let us know how it goes! and you can also try enabling the magnetic correction step by running the notochord with the flag --live-mag-correction