Place the rocket in the view of the cameras. For convenience, orient the rocket in the standard qualisys frame (x axis towards pc, y axis towards doors) such that body y points along qualisys x and body z points towards the door
In Qualisys, Press gear icon and go to ‘6DOF Tracking'
Register the markers on the rocket as points for a new model
use the ‘rotate’ menu to make sure frame aligns with the one shown on the rocket (x up and z away from the raspberry pi, consult the sticker on the rocket)
Move the frame to the center of mass:
The center of mass is approximately where the coordinate sticker is located
Open the transalte tab and select 'So that point in the body has local coordinates (in mm)'
Select the vicon marker which is at the CoM (the one to the left of the RPi) and enter (x,y,z)=(5,25,3)mm
you can also measure to make sure that it is approximately correct
You can double check the alignment to see if the x axis passes through the intersection of lines spanned by the vicon markers on the top