Visualization of Robot's workspace(task space) based on the URDF

I was wondering if there is any tool/framework that one could use to visualize full workspace of the robot based on it’s urdf.
Thank you in advance!

Hi @mahdijavadi1991

Until I know “tf2_tools” allows you to visualize your urdf and their frames.

Hi @Voltedge
Thanks for the reply. You are right. But I was wondering if there exists any framework that visualize the workspace of the robot based on the joint limits specified in the urdf.

The ToGo method is to do it manually by specifying the robot’s joint values and use forward kinematics to get the task space coordinates.

This is why I was asking to inquire if there is anything that I could use for this purpose.

Best regards

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