0:45 Calibration Tools: Calibration tools are now stored near the door, minimizing interference with the motion capture cameras.
1:52 Qualisys Site Visit: A Qualisys representative visited to help optimize the motion capture setup. Key takeaways: dirty markers are not a major issue, "active filtering" can mitigate sunlight interference, and camera masking can prevent camera cross-interference. The L-frame for calibration can be positioned freely, not necessarily on the ground.
10:42 Improved Ball Tracking: Ball tracking now handles multiple balls and minor occlusions with accurate landing predictions. Playback data shows landing predictions vary slightly even with identical throw repetitions, highlighting the inherent variability in robotic control.
18:20 Kalman Filter Timing Issues: A timing discrepancy between the motion capture data stream (300 fps), the robot's processing rate (200 fps), and the Kalman filter's assumed rate was causing fluctuating prediction accuracy. Correcting this significantly improved prediction consistency.
21:39 Alternative Tracking Methods: Discussion of using velocities and accelerations for motion classification instead of quadratic regression. Noise amplification from derivatives poses a challenge.
34:14 Computer Vision for Tracking: Normal cameras with depth estimation are a possibility but unlikely to match the sub-millimeter accuracy of the motion capture system. Depth camera data was previously found to be too noisy (around 10cm).
40:04 Call for ROS2 Developers: Request for assistance with ROS2 performance characterization and analysis to identify potential bottlenecks.
43:37 Last Stream of the Year: Holiday greetings and announcement of a break until January.
46:37 Tracking Data on Github: Motion capture data (three-ball and five-ball juggling) will be uploaded to Github for community access and experimentation. File formats under consideration: TSV, FBX, and JSON.
48:19 Alternative Reflective Material: Testing reflective string as a potential alternative to retroreflective tape for covering the juggling balls, with plans to crochet a sleeve.
50:28 Ball Characteristics and Tracking: Speculation about whether the sand-filled juggling balls' unusual flight characteristics contribute to tracking challenges.