- Rotation representations cheat sheet
Rotation matrices, axis-angle, Euler angles and quaternions side by side, with the quaternion order each library uses, tested conversions in NumPy and SciPy, and a gimbal lock demonstration. · verified 14 Nov 2026
- DH parameters and product of exponentials cheat sheet
Standard DH, modified DH and the product-of-exponentials formula side by side, applied to the same three-joint arm, with NumPy code that shows all three give the same end-effector pose. · verified 14 Nov 2026
- PID tuning cheat sheet
A PID tuning recipe for robot joints, the Ziegler-Nichols rules and their limits, the discrete PID update with derivative filtering, anti-windup and setpoint weighting, and a simulation that compares them. · verified 14 Nov 2026
- ROS 2 command line cheat sheet
The ros2 topic, node, service, param, bag, action, interface, launch, run, pkg and doctor commands for ROS 2 Jazzy, with QoS flags, a runnable QoS mismatch demo and the gotchas that waste the most time. · verified 14 Nov 2026
- Kalman filter cheat sheet
KF, EKF and UKF equations side by side, how to choose Q and R, NEES and NIS consistency checks with chi-square bounds, and runnable NumPy code for a Kalman filter and an EKF Jacobian check. · verified 14 Nov 2026
- URDF and MJCF cheat sheet
URDF and MuJoCo MJCF elements side by side for links, joints, inertia, geometry, limits, actuators and frames, one small arm written in both formats, and the conversion traps between them. · verified 14 Nov 2026