All poses and time functions were simulated in RViz and Gazebo. RViz settings were altered to recreate light painting within the program’s viewport.
Once simulated successfully, the code was implemented on Franka Emika’s Panda robotic arm using ROS. An end-effector attachment containing a controllable LED was simultaneously developed and manufactured to facilitate light painting.
6. Image Capture
Once the code successfully ran repeatedly on the Panda robot, long-exposure photographs were captured of the motion. These photographs were then collated and displayed in sequence to create an animation of a butterfly in flight.
If you’re interested in a more in-depth explanation, please see the documentation here