Pose Sync Avatar Camera Setup

The Avatar v1 contains the following cameras,

• Femto Bolt

• ZED X Camera

• 2 ZED XM Cameras

The Femto Bolt and the ZED X cameras are used in the Avatar Head (to support both indoor and outdoor applications). The ZED XM cameras are mounted on the wrists of the left and right robotic arms.

To use the cameras in the AMAS VR app, please follow the following steps,

1. Using the steps mentioned in Sensekit Addition and Configuration, add the Sensors for the Femto Bolt , ZED X and ZED XM's using the ROS port information provided in the delivery documentation.

2. After adding all Sensors, remove all Sensors from the Active Sensors List.

3. After removing all the Sensors, using the steps mentioned in Loading Sensekit, load the Sensors again one at a time and select the following Robot for each Sensor.

   • Femto Bolt : Torso Robot

   • ZED X : Torso Robot

   • ZED XM : One to Right xArm Robot, another to Left xArm Robot

4. After loading all the Robots, using the steps mentioned in Modifying a Currently Active Sensor, modify each Sensor Firmware Specific Settings to enable the Pose Sync Settings

5. Once the Pose Sync Settings is enabled, the Reference Frame will be preset, set the Relative frame as follows for each Sensor.

   • Femto Bolt : femto_origin_1

   • ZED X : zed_origin_1

   • ZED XM : link7

6. After all the Sensor's firmware configuration is completed, remove all the Sensors again and reboot the ER Cortexes

7. After the reboot is completed. Load the SenseKits again with the RoboKit selected in step 3.

8. Calibrate each Sensor, using the steps mentioned performing eye-in-hand calibration (with pose) calibrate each sensor and click save. Use Manual Calibration for some final tuning.

9. Once all the calibrations are done. Set the fusion offset as follows,

   • If Indoors

     • Femto : 0.1

     • ZED X : 0.2

   • If Outdoors

     • Femto : 0.2

     • ZED X : 0.1