# Motion Capture

For motion capture applications, it is possible to mount **M4 markers** (only this size) using aluminum adapters. These adapters are mounted by replacing the screws of the covers. Two sizes of adapters exist: M4 (silver) and M3 (orange).

<img src=../../_static/images/motion-capture-adapters.jpeg width="550" height="400">

## Mounting
1. Screw an M4-sized marker to the adapter (if not already done) 
2. Remove a screw of a cover
3. Replace it with the adapter and its marker

<img src=../../_static/images/motion-capture-M3.jpeg width="400" height="500"> <img src=../../_static/images/motion-capture-M4.jpg width="400" height="500"> 

## Self collision
`````{admonition} IMPORTANT
:class: warning
When putting markers on the robot, it is important to double-check that motions that will be run on the robot won't create self-collisions with the markers.
`````