How to check the robot model in Mech-Viz is right or not after a new robot model is imported into Mech-Viz?

Q&A
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If the robot model can not be found in the robot library of Mech-Viz software, it is required to create a new robot model according to the CAD file and DH parameters of this robot specification. After the new robot model is imported into the Mech-Viz software, sometimes it is possible that the pose of virtual robot in Mech-Viz software is different to the real robot even though they are of the same JPs parameters.

So it is important to check the robot model in Mech-Viz is right or not after a new robot model is imported into Mech-Viz. But how to do this?

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  1. Make sure that each joint of the robot corresponds to the rotation direction and limit values of the model.
  2. Move the robot under the camera and capture the point cloud. If the model overlaps with the point cloud, then the model is accurate. (If possible, take pictures of each joint.)