# Sebastian Castro

### MathWorks

Robotics and AI educator at MathWorks. Co-host of the MATLAB and Simulink Robotics Arena.

Professional Interests: Education, Robotics, Simulation, Controls, Algorithms, Physical Modeling, Model-Based Design, Computer Vision, Machine Learning, Software Engineering

Non-professional Interests: Running, beer, wine, and heavy metal \m/

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**Content Feed**

How do I make an autonomous line following program and also have driver control

Have you seen this new video of ours? https://www.mathworks.com/videos/switching-between-driver-and-autonomous-control-of-vex-r...

ungefär 3 år ago | 0

Hor to make a URDF file?

URDF is a file format used externally to MATLAB. It just happens that MATLAB has a URDF importer. Here are the official tutoria...

ungefär 3 år ago | 0

Simulink 3D Animation vs. Mechanics Explorer

Simulink 3D Animation requires you to simulate the robot dynamics separately, and then whatever positions you get from your simu...

ungefär 3 år ago | 1

| accepted

Robotsimulator is undefined function

That was from a demo, and not a shipping product feature. The closest thing I can think of in the latest version is the basic M...

ungefär 3 år ago | 0

| accepted

I have no 'Build Model' button on my Simulink model Toolbar.

Do you have MATLAB Coder and Simulink Coder in your license? If you type in >> ver in MATLAB, do those toolboxes show up? - ...

ungefär 3 år ago | 0

Error using RoboticsPlayground app while running a sample simulation

Do you have a Simscape Multibody license? If you type in >> ver in MATLAB, does that toolbox show up? - Sebastian

ungefär 3 år ago | 0

frames not appearing using robotics system toolbox

Maybe the frames have a default size that is much smaller than the robot. If you divide the distance values of the DH parameters...

ungefär 3 år ago | 1

| accepted

Mobile Robotics Simulation Toolbox: Map Issues

The toolbox will accept any binaryOccupancyMap or occupancyMap variable as the map (or robotics.BinaryOccupancyGrid and robotics...

ungefär 3 år ago | 0

Submitted

Using MATLAB with Python

Files demonstrating MATLAB and Python interoperability

ungefär 3 år ago | 50 downloads |

Issue: Create ROS master on Matlab

Two things. First, if all you want to do is create a ROS master on the localhost, all you need is the following rosinit Secon...

ungefär 3 år ago | 0

Is it possible to use PRM and sequentially findpath function in Simulink?

It's doable in the sense that you can put the code in a MATLAB Function block (or as a MATLAB Function in Stateflow). It has its...

ungefär 3 år ago | 0

| accepted

Simulation Map Generator issues

The error you linked is a common one that happens when you input a grayscale (M x N) image instead of a color (M x N x 3) image....

ungefär 3 år ago | 1

| accepted

Trajectory plotting of manipulator path in Simscape

Hi Gautami, Simscape Multibody has a "Spline" block that lets you display a curve if you pass in the XYZ points. You have to di...

mer än 3 år ago | 1

Empty thermal liquid tank

Have you looked into Simscape Fluids? They have a built in Thermal Liquid tank block you can parameterize based on specs like th...

mer än 3 år ago | 0

Feeding knees angle to the walking robot

Thanks for tagging this post with roboticsarena so we got that notification! Much appreciated. In Simscape Multibody, you can c...

mer än 3 år ago | 2

| accepted

ROS Publish Msg - DJI ROS OSDK

Instead of using a Bus Creator block, use a Blank Message block with the right message type (sensor_msgs/joy), and then use a Bu...

mer än 3 år ago | 0

No visualisation shown in mechanics explorer

You might want to check that the folder containing the mesh files (the .STL or .STEP) files is on your MATLAB path. Else, the si...

mer än 3 år ago | 1

In PRM algorithm how much the Minimum number of nodes needs to find the path

You don't! Probabilistic planning approaches have no guarantees, so you just have to pick something that succeeds most of the ti...

mer än 3 år ago | 0

| accepted

What is the best desktop configuration/parts to run Matlab?

MathWorks has a system requirements page you can look at! https://www.mathworks.com/support/requirements/matlab-system-requirem...

mer än 3 år ago | 1

| accepted

Perform Safe Trajectory Tracking Control on Baxter robot

I'd suggest starting by computing the inverse kinematics/dynamics for each arm independently and seeing if you can place both ma...

mer än 3 år ago | 0

| accepted

Solved

Pose from bearing angles in 2D

A robot moving on the plane has a sensor that measures the bearing angle to two mapped landmarks, that is, the world frame coord...

mer än 3 år ago

Solved

Twists in 2D

So far we have represented the pose of an object in the plane using a homogeneous transformation, a 3x3 matrix belonging to the ...

mer än 3 år ago

Solved

Pose interpolation in 2D

Consider two poses represented by homogeneous transformation matrices: |T1| and |T2|. Write an algorithm to interpolate between...

mer än 3 år ago

Solved

Composing relative poses in 2D: problem 2

We consider a world reference frame denoted by {0} which has its x-axis pointing east and its y-axis pointing north. There i...

mer än 3 år ago

Solved

Composing relative poses in 2D: problem 1

We consider a world reference frame denoted by {0} which has its x-axis pointing east and its y-axis pointing north. There i...

mer än 3 år ago

Solved

Relative points in 2D: problem 3

The 2D pose of a robot, with respect to a world coordinate frame {O}, is described by a 3x3 homogenous transform matrix T. A la...

mer än 3 år ago

Solved

Relative points in 2D: problem 2

The 2D pose of a robot, with respect to a world coordinate frame {O}, is described by a 3x3 homogenous transform matrix T. A la...

mer än 3 år ago

Solved

Relative points in 2D: problem 1

The 2D pose of a robot, with respect to a world coordinate frame {O}, is described by a 3x3 homogenous transform matrix T. A la...

mer än 3 år ago

Solved

Relative pose in 2D: problem 2

We consider a world reference frame denoted by {0} which has its x-axis pointing east and its y-axis pointing north. There is a...

mer än 3 år ago

Solved

Relative pose in 2D: problem 1

We consider a world reference frame denoted by {0} which has its x-axis pointing east and its y-axis pointing north. There is a...

mer än 3 år ago