From @astrick3 on February 5, 2015 21:54

Copied from original issue: ahundt/robone#28

From @astrick3 on February 5, 2015 21:49

They are in the Robone/confidential_cut_files folder on Google Drive

Copied from original issue: ahundt/robone#16

From @astrick3 on February 5, 2015 21:47

Depends on #11

Copied from original issue: ahundt/robone#12

From @astrick3 on February 5, 2015 21:51

• How much can we modify in real time via the C API?
• integrate with main arm commanding loop in vrep
• so bone is moved
• arm optical tracker position is read
  originally titled: Integrate optical tracking data into cut file and arm commanding loops

Copied from original issue: ahundt/robone#23

From @astrick3 on February 5, 2015 21:57

Copied from original issue: ahundt/robone#40

From @astrick3 on February 5, 2015 21:55

Copied from original issue: ahundt/robone#32

From @ahundt on February 10, 2015 21:27

Combine #9 #8 #7 in a single simulation where a path is traced out and material is cut from either a solid object or a bone.

Copied from original issue: ahundt/robone#43

From @ShahriarSefati on February 5, 2015 21:43

Copied from original issue: ahundt/robone#3

From @astrick3 on February 5, 2015 21:53

Copied from original issue: ahundt/robone#27

From @astrick3 on February 5, 2015 21:45

Acceptance test:

First need to Command arm to a series of locations and have it move via the inverse kinematics using the included lua scripts.

Copied from original issue: ahundt/robone#7

From @astrick3 on February 5, 2015 21:44

Copied from original issue: ahundt/robone#6

ahundt/robone#48

From @astrick3 on February 5, 2015 21:48

Depends on issue #11 to be completed

Also depends on issue #12

Copied from original issue: ahundt/robone#13

From @astrick3 on February 5, 2015 21:50

physically set up the optical tracker, plug it in, get it connected.

Copied from original issue: ahundt/robone#21

ahundt/robone#15

From @astrick3 on February 5, 2015 21:50

I have the optical tracker, documentation and fiducials. As of writing documentation is in robone Google Drive folder under atracsys, and fiducials are in box with optical tracker.

Copied from original issue: ahundt/robone#20

From @ShahriarSefati on February 5, 2015 21:38

Copied from original issue: ahundt/robone#2

From @astrick3 on February 5, 2015 21:52

Dump optical tracker, arm position, and arm command data into a file and copy it into excel, python or something, then graph it. Shake the optical tracker back and forth to get "peaks" and take the difference in time between the peaks to measure the reaction time.

Record the process and details as well as document everything thoroughly, also in the GRL library documentation for user reference of the performance of the system.

Copied from original issue: ahundt/robone#24

From @astrick3 on February 5, 2015 21:44

meet with

• @astrick3
• @ShahriarSefati
• install vrep on everyone's computer
• show them what I know about the software
• make sure they can load up the github reflexxes vrep simulation

Copied from original issue: ahundt/robone#5

From @ahundt on February 19, 2015 22:50

We need to read the papers from our list in the Robone Proposal from issue #44 and produce an analysis. Update this with more detail.

• pick a couple relevant papers
• present our findings
• check last year student's presentation for how many need to be done

@ShahriarSefati added all the papers to the google drive already for us to read. Great job!

Copied from original issue: ahundt/robone#47

From @astrick3 on February 5, 2015 21:54

Copied from original issue: ahundt/robone#30

From @astrick3 on February 5, 2015 21:56

Copied from original issue: ahundt/robone#36

From @astrick3 on February 5, 2015 21:48

Talk with:

• Christoph
• Ben
• People in other KUKA group

See if we can get/give anything useful to each other code wise.

Possible code components we could give/receive:

• path planning
• logging on java for kuka
• configuration of kuka arm in java

This task will be joint between @athundt and @astrick3.

Copied from original issue: ahundt/robone#14

ahundt/robone#11

From @astrick3 on February 5, 2015 21:56

Copied from original issue: ahundt/robone#37

From @ahundt on February 5, 2015 22:59

Depends on issues #7 #8 #9 .

May also want to have this depend on the C++ plugin integration for loading points.

Copied from original issue: ahundt/robone#42

From @astrick3 on February 5, 2015 21:55

Copied from original issue: ahundt/robone#34

From @astrick3 on February 5, 2015 21:57

Copied from original issue: ahundt/robone#41

ahundt/robone#9

ahundt/robone#19

From @astrick3 on February 5, 2015 21:56

Copied from original issue: ahundt/robone#35

From @astrick3 on February 5, 2015 21:55

Copied from original issue: ahundt/robone#33

ahundt/robone#45

From @astrick3 on February 5, 2015 21:53

Copied from original issue: ahundt/robone#25

From @ShahriarSefati on February 5, 2015 21:43

meet with

• @astrick3
• @ShahriarSefati
• give them all access to the sunrise software suite on windows
• show them the java code and the external shared repository

Copied from original issue: ahundt/robone#4

ahundt/robone#17

From @astrick3 on February 5, 2015 21:57

Copied from original issue: ahundt/robone#39

From @astrick3 on February 5, 2015 21:56

Copied from original issue: ahundt/robone#38

• create a simple separate simulation that has an object in it and the kuka with a drill on the end, move arm to cut a small hole.
• add the components to the main simulation (the reflexxes one)

make sure to commit and sync things

Question that we need to answer:

• How to connect iiwa end effector to a path.
• Can the path be attached to a non-world frame in v-rep?
• Can we move the object to which the path is attached in the world?

From @astrick3 on February 5, 2015 21:54

Copied from original issue: ahundt/robone#31

From @astrick3 on February 5, 2015 21:51

Copied from original issue: ahundt/robone#22

From @ahundt on February 10, 2015 22:17

The project plan document is here:
https://docs.google.com/document/d/1HId74qZUNspPID6MlJ2QITOiNdjpolJ68U2dXULqIpI/edit?usp=sharing

Copied from original issue: ahundt/robone#44

ahundt/robone#46

ahundt/robone#51

From @ahundt on February 19, 2015 23:29

Our current v-rep simulation demonstrates the arm cutting the ball joint from a bone and then milling the inside. To complete this issue we should demonstrate the real physical KUKA imitating the motion that is shown in the simulation.

Sub-issues include #11 #12 #15

Java

@astrick3 is responsible for this part
First complete sub-issue #12.

• Implement integrated program
  • initializes FRI mode
  • reads goal points from the c++ plugin
  • commands the arm to move to that position (possibly with smartservo)?
• Test pure Java program purely with c++ test software
• Test Java Sunrise application program deployed on controller with c++ test software

C++

@ShahriarSefati steps:
First complete sub-issue #15

• set up v-rep plugin
• slow down speed of robone simulation motion to a realistic speed

@athundt Steps

• add zeroMQ and FRI drivers to plugin
• Test plugin independently of FRI
  • Feed fake data to FRI

Integration Testing

• Deploy Java application to controller
• Put arm in Automatic mode
• Connect Laptop with 2 ethernet ports
  • KONI ethernet port
    • Robot IP Address:
    • Laptop IP address:
  • Sunrise programming ethernet port

Copied from original issue: ahundt/robone#49

From @astrick3 on February 5, 2015 21:53

Copied from original issue: ahundt/robone#26

From @ahundt on February 19, 2015 23:44

This plugin will expand to incorporate the other issues. It will just be demo code that compiles and runs in this repository, it doesn't need to actually do anything.

• create the plugin in the source tree
• figure out how to verify that it is detected and run correctly

Copied from original issue: ahundt/robone#50

From @ShahriarSefati on February 5, 2015 21:37

Copied from original issue: ahundt/robone#1

From @astrick3 on February 5, 2015 21:54

Copied from original issue: ahundt/robone#29

ahundt/robone#18