5 votes

How do CAD programs solve for Inverse/Forward Kinematics problem in Assembly?

EDIT: Improved based on the comments below. If you have a CAD assembled, that means that you have one valid configuration given. You move the TCP (Tool Center Point) only a small amount, since your ...
user avatar
  • 6,447
3 votes
Accepted

RViz: How to Visualize a Voxblox Mesh as a MarkerArray?

So the doc's were out of date. I just updated them as the mesh is actually of type voxblox_msgs::MeshBlock. Voxblox use to output a standard MarkerArray, however ...
user avatar
3 votes
Accepted

Gazebo not reading the material color in URDF

It's a limitation in Gazebo's ability to convert URDF to SDF, Gazebo's native object description format. Frustratingly, RViz works the other way around: it correctly parses URDF colors, but not the ...
user avatar
  • 1,266
2 votes
Accepted

How to Visualize a real robot's movements on a map?

There seems to be two questions in one: How should I visualise the trajectory (planned and traversed paths)? How should I combine "ultrasonic sensors, infrared sensors, camera, human sensors etc. " ...
user avatar
2 votes
Accepted

convert toolframe coordinate to world frame coordinates?

Assuming you have solved the inverse kinematics (IK) problem already... I suppose you have a transformation matrix for each joint, build up from one line in the DH table (if you used DH to describe ...
user avatar
  • 6,447
2 votes

Robotics Toolbox: Display all DH link frames in Seriallink.plot()

And the forward kinematics function has a second output argument which is an array of the transforms for each frame. The following code will do what you want: ...
user avatar
  • 1,522
2 votes
Accepted

Using DH parameters to visualize a robot

Yes you can visualive it in matlab, using robot toolbox for Matlab here. Visualization would look like this And code example for MDH table for my 6 DOF Serial manipulator : ...
user avatar
1 vote

Gazebo not reading the material color in URDF

I've never used ROS or Gazebo before, but it looks like all of your components are defined as being part of the same link, so Gazebo may be applying the last-specified color to all components because, ...
user avatar
  • 14.9k
1 vote

RViz: How to Visualize a Voxblox Mesh as a MarkerArray?

I had this problem too. You just have to source the corresponding setup.bash for the terminal that runs rviz and the /voxblox_node/mesh topic will be available to show in rviz.
user avatar
  • 111
1 vote
Accepted

Robotics Toolbox: Display all DH link frames in Seriallink.plot()

The easiest way to do this would be to use the trplot function (documented for v9 at http://www.petercorke.com/RTB/r9/html/trplot.html). You can simply call this ...
user avatar
1 vote
Accepted

Is Venetian mirror possible in Autodesk Inventor?

Surface properties like that are really only for cosmetic purposes so it is unlikely any CAD program has that option. However, you may be able to get the appropriate effect by assigning particular ...
user avatar
  • 1,357
1 vote

Covariance Check?

You can plot the 2 and 3 σ gates around the means to see if it visually and intuitively makes sense. If you have access to the raw data before it was filtered, you can calculate the residuals and ...
user avatar
  • 872
1 vote

Visualizing raw accelerometer and gyro data

I'm sure you've tried this, but if you follow the links in that YouTube video, you'll see that its author has posted the source code. See: Gait tracking with x-IMU, and; Github: xioTechnologies/...
user avatar

Only top scored, non community-wiki answers of a minimum length are eligible