simtk.org

Hi all,
I'm just looking for some clarification on how each IMU's orientation offset, as determined through the IMU placer, is used when running IMU IK. How are these offsets applied to collected orientation data / where and what in the source code completes this process?

Thanks,
Vincent

Have the same concern, want to better understand how IMU placer applies the offsets.

Hello,

The orientation offsets computed by the IMU placer are used to "place" IMUs on the corresponding model segments (these are the offsets from segment frames to IMU frames). After IMU placement, the orientation of the IMUs never change relative to the model segments (i.e. never change by the IK process), instead the IK solver finds the values of coordinates that minimize the difference between the orientation of the IMUs and the recorded sensor orientations.

The documentation page below explains that process
https://simtk-confluence.stanford.edu/d ... h+IMU+Data

Hope this helps but please let us know if you continue to have questions.
-Ayman