OpenSense with pure IMU (no magnetometer enabled)

[Stephan Bosch]

Hi,

I'm trying to use the OpenSense Rajagopal2015 model with IMU reverse kinematics from the example, but the results are bad to say the least. It looks like the yaw direction for the sensors is all over the place, so instead of walking or running the model seems to be slipping on ice (legs sliding sideways in a rather hilarious fashion). Now I am using the IMU system indoors where magnetometers are commonly problematic, so I disabled those. Now I am wondering: can the model even work with IMU sensor quaternion signals that have no common yaw reference? Can't the initial calibration account for that?

Regards,

Stephan.

OpenSim 4.5