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 SenseKits for the Femto Bolt , ZED X and ZED XM's using the ROS port information provided in the delivery documentation.

2. After adding all SenseKits, remove all SenseKits from the Active Sensekit List.

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

   • Femto Bolt : Torso Robokit

   • ZED X : Torso Robokit

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

4. After loading all the RoboKits, using the steps mentioned in Modifying a Currently Active SenseKit, modify each SenseKit Sensekit 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 SenseKit

   • Femto Bolt : femto_origin_1

   • ZED X : zed_origin_1

   • ZED XM : link7

6. After all the SenseKits firmware configuration is completed, remove all the SenseKits 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 SenseKit, using the steps mentioned performing eye-in-hand calibration (with pose) calibrate each sensor and 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

10. After all the configurations are done, using the steps mentioned in adding a bundle, save the configuration as a bundle to be loaded on the next start of the AMAS VR app.