Robot Urdf and Handeye Varification Tool

Overview

This repository provides tools for straightforward verification of the robot's URDF model and hand-eye calibration results by projecting the robot's link poses onto the RGB image.

URDF Visualization

python vis_urdf_via_urdfpy.py

or

vis_urdf_via_sapien.py

Projection to RGB Image

python main.py

Importants

1. All parameters are defined in constants.py; modify them there.
2. Ensure the joint order matches the order of your robot's joint values from simulation or real hardware, as they may differ from the URDF.
3. The example projection results for the hand may appear incorrect, likely due to the low-cost robot hand not reaching the exact pose. If this assumption is incorrect, please let me know.

Contact

If you have any suggestion or questions, please feel free to contact us:

Tianhao Wu: [email protected]

License

This project is released under the MIT license. See LICENSE for additional details.