Unable to communicate with OptiTrack System

[MohamedAshraf-2001]

I'm are working on dynamic obstacle avoidance for a Crazyflie using OptiTrack and the controller_tinympc_eigen_task firmware. Our primary questions concern the communication bridge:

• How does the controller_tinympc_eigen_task firmware integrate external Crazyflie and obstacle state data (position, velocity) from OptiTrack? What are the specific input variables or mechanisms within the C++ code for this data?

• How can we adapt a Python script (e.g., mocap_hl_commander.py) to transmit both Crazyflie and obstacle states to the firmware, and which C++ variables or channels should receive this obstacle information?

• How is the obstacle avoidance task within the C++ firmware initiated or configured from the Python environment, beyond just streaming state data?