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example-follow-mocap

README.md

##Follow Mocap Example

######This example shows you how to control the robot using a motion capture system.

screenshot

####What You'll Learn Follow Mocap goes over:

  • Create 3D Paths using an Optitrack motion capture markers
  • Move & reiorient 3D Paths using motion capture markers
  • Move & reiorient the robot to follow paths using a PathController
  • Move & reiorient the robot to follow a rigid body

####Calibrating the Worlds To develop this example, we used an 6 camera OptiTrack setup, running Motive:TrackerTracker 1.9.0.

There's a bit of set up you'll need to do in Motive:Tracker before running the example:

  1. Calibrate the Motion Capture volume.
  2. Create a Rigid Body.
  • Give ~300m offset to the rigid body pivot point. This will keep the robot a set distance away from you as you move around.
  1. Stream your Rigid Body or Marker data from Motive:Tracker to the openFrameworks app using ofxNatNet.
  2. Align the motion capture coordinate system with the robot's coordinate system.
  • If you place a rigid body on the robot's TCP, you should see it moving & reorienting in the app the same as in real life.

In the app, use 'F' to have the robot start or stop following the rigid body.

derp

####Other Usage Notes We rely on hotkeys for triggering a lot of the UI functionality. Below are the hotkeys we use that work across all the example projects included in ofxRobotArm.

KeyPressed commands for controlling the robot:

  • m: move

KeyPressed commands for controlling gizmo:

  • r: rotate
  • g: translate
  • s: scale

KeyPressed commands for viewport navigation:

  • 1: Top View
  • 2: Front View
  • 3: Side View
  • 4: Perspective View