Cartesian Error Visualizer

Real-time visualization of cartesian position and orientation errors from dual-arm robot manipulators.

Quick Start

Install dependencies:

pip install -r requirements.txt

Run the demo:

# Terminal 1: Run the demo error publisher
python demo_error_publisher.py

# Terminal 2: Run the visualizer
python cartesian_error_visualizer.py

What It Does

Subscribes to cartesian error topics and plots:

• Linear errors (X, Y, Z position) in meters
• Angular errors (Roll, Pitch, Yaw orientation) in radians

Topics:

• right_arm/cartesian_error
• left_arm/cartesian_error

Demo Publisher

demo_error_publisher.py simulates realistic error variations:

• Converging trajectories
• Step responses with overshoot
• Oscillatory behavior
• Tracking errors
• Large movements

Cycles through scenarios every 5 seconds at 50 Hz.