{"id":24510347,"url":"https://github.com/juliarobotics/motioncapturejointcalibration.jl","last_synced_at":"2026-03-15T21:19:55.739Z","repository":{"id":61798808,"uuid":"98593909","full_name":"JuliaRobotics/MotionCaptureJointCalibration.jl","owner":"JuliaRobotics","description":"Kinematic calibration for robots using motion capture data","archived":false,"fork":false,"pushed_at":"2020-02-17T00:05:18.000Z","size":109,"stargazers_count":19,"open_issues_count":3,"forks_count":4,"subscribers_count":2,"default_branch":"master","last_synced_at":"2025-06-15T11:41:28.445Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Julia","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"other","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/JuliaRobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE.md","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2017-07-28T01:22:11.000Z","updated_at":"2025-03-17T09:55:14.000Z","dependencies_parsed_at":"2022-10-21T11:15:31.236Z","dependency_job_id":null,"html_url":"https://github.com/JuliaRobotics/MotionCaptureJointCalibration.jl","commit_stats":null,"previous_names":[],"tags_count":4,"template":false,"template_full_name":null,"purl":"pkg:github/JuliaRobotics/MotionCaptureJointCalibration.jl","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/JuliaRobotics%2FMotionCaptureJointCalibration.jl","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/JuliaRobotics%2FMotionCaptureJointCalibration.jl/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/JuliaRobotics%2FMotionCaptureJointCalibration.jl/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/JuliaRobotics%2FMotionCaptureJointCalibration.jl/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/JuliaRobotics","download_url":"https://codeload.github.com/JuliaRobotics/MotionCaptureJointCalibration.jl/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/JuliaRobotics%2FMotionCaptureJointCalibration.jl/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":260281569,"owners_count":22985630,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-01-22T00:28:33.304Z","updated_at":"2026-03-15T21:19:55.674Z","avatar_url":"https://github.com/JuliaRobotics.png","language":"Julia","funding_links":[],"categories":[],"sub_categories":[],"readme":"# MotionCaptureJointCalibration\n\n[![Build Status](https://travis-ci.org/JuliaRobotics/MotionCaptureJointCalibration.jl.svg?branch=master)](https://travis-ci.org/JuliaRobotics/MotionCaptureJointCalibration.jl) [![codecov.io](http://codecov.io/github/JuliaRobotics/MotionCaptureJointCalibration.jl/coverage.svg?branch=master)](http://codecov.io/github/JuliaRobotics/MotionCaptureJointCalibration.jl?branch=master)\n\nMotionCaptureJointCalibration provides functionality for kinematic calibration of robots, given measurements of the positions of motion capture markers attached to the robot's links and positions of the robot's joints in a number of poses. It does so by solving a nonlinear program (NLP) with (weighted) square error between measured and predicted marker locations as the objective to minimize.\n\nMotionCaptureJointCalibration is a small Julia library built on top of [JuMP](https://github.com/JuliaOpt/JuMP.jl) and [RigidBodyDynamics.jl](https://github.com/JuliaRobotics/RigidBodyDynamics.jl). JuMP makes it possible to choose between various NLP solvers. [Ipopt](https://github.com/JuliaOpt/Ipopt.jl) appears to perform fairly well for the problems formulated by this package.\n\n## News\n* October 18, 2017: [tagged version 0.0.1](https://github.com/JuliaRobotics/MotionCaptureJointCalibration.jl/releases/tag/v0.0.1).\n* August 4, 2017: the package is under initial construction.\n\n## Features\nFeatures include:\n* handling of occlusions\n* handling of measurements of the body-fixed locations of only a subset of the markers attached to the robot (the unknown marker positions will be solved for, given rough bounds)\n* handling of measurements of only a subset of a robot's joint positions (the unknown joint positions will be solved for, given rough bounds)\n* proper handling of quaternion-parameterized floating joints (unit norm constraints for quaternions)\n* visualization of calibration results using [RigidBodyTreeInspector](https://github.com/rdeits/RigidBodyTreeInspector.jl)\n\nCurrently, MotionCaptureJointCalibration can only estimate constant offsets between measured and actual joint positions.\n\n## Installation\nTo install, simply run\n\n```julia\nPkg.add(\"MotionCaptureJointCalibration\")\n```\n\nThis will install MotionCaptureJointCalibration and its required dependencies. RigidBodyTreeInspector.jl is an optional dependency and can be used to visualize the calibration results (`Pkg.add(\"RigidBodyTreeInspector\")`). You'll also need an NLP solver that interfaces with JuMP, e.g. Ipopt (`Pkg.add(\"Ipopt\")`).\n\n## Usage\nSee [the demo notebook](https://github.com/JuliaRobotics/MotionCaptureJointCalibration.jl/blob/master/notebooks/Demo.ipynb) for usage.\n\n## Acknowledgements\nA variant of the NLP formulation used in this package is due to Michael Posa.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fjuliarobotics%2Fmotioncapturejointcalibration.jl","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fjuliarobotics%2Fmotioncapturejointcalibration.jl","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fjuliarobotics%2Fmotioncapturejointcalibration.jl/lists"}