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1. Is the x,y,&z being returned though the sampleclient for each rigid body I have made the coordinates of the centroid? It appears to return x,y,&z for each marker plus an x,y,z and pitch, yaw etc for the rigid body.

2. What are the default units of the sampleclient program? If it isn't in millimeters, how do I set it (or tracking tools) to output in millimeters (I'm working with small displacements).

Sample client illustrates how to receive marker centroid data and/or rigidbody pos/ori data. This should be indicated in the source code.

Units are the same as the server application. For TrackingTools this is meters. For Arena this is millimeters.

I dont believe you can change the units in TrackingTools, however the data is passed as double I believe so you should have enough digits of precision.

hope this helps,

Morgan