uArm firmware here: https://github.com/uArm-Developer/UArmForArduino

Exception in thread "AWT-EventQueue-0" com.jogamp.opengl.GLException: Caught NativeWindowException: DC not released: GDISurface[ displayHandle 0x0
, surfaceHandle 0x52011cf4
, size 857x704
, UOB[ OWNS_SURFACE | OWNS_DEVICE | WINDOW_INVISIBLE ]
, WindowsWGLGraphicsConfiguration[DefaultGraphicsScreen[WindowsGraphicsDevice[type .windows, connection decon, unitID 0, handle 0x0, owner false, NullToolkitLock[obj 0x76933a78]], idx 0], pfdID 9, ARB-Choosen true,
requested GLCaps[rgba 8/8/8/1, opaque, accum-rgba 0/0/0/0, dp/st/ms 16/0/4, sample-ext default, one, mono , hw, GLProfile[GL4bc/GL4bc.hw], on-scr[.]],
chosen GLCaps[wgl vid 9 arb: rgba 8/8/8/8, opaque, accum-rgba 0/0/0/0, dp/st/ms 16/0/4, sample-ext default, dbl, mono , hw, GLProfile[GL4bc/GL4bc.hw], offscr[fbo]]]
, surfaceLock <673cfebd, 25dd3b36>[count 1, qsz 0, owner ]
, GDIDummyUpstreamSurfaceHook[pixel 857x704]
, upstreamSurface false ], isWindow false, werr 0, thread: AWT-EventQueue-0 on thread AWT-EventQueue-0
at com.jogamp.opengl.GLException.newGLException(GLException.java:76)
at com.jogamp.opengl.awt.GLJPanel$8.run(GLJPanel.java:1502)
at com.jogamp.opengl.Threading.invoke(Threading.java:223)
at com.jogamp.opengl.awt.GLJPanel.dispose(GLJPanel.java:487)
at com.jogamp.opengl.awt.GLJPanel.removeNotify(GLJPanel.java:688)
at com.jogamp.opengl.awt.GLJPanel.destroy(GLJPanel.java:513)
at com.jogamp.opengl.awt.GLJPanel$2.run(GLJPanel.java:312)
at com.jogamp.nativewindow.awt.AWTWindowClosingProtocol$WindowClosingAdapter.windowClosing(AWTWindowClosingProtocol.java:71)
at java.awt.AWTEventMulticaster.windowClosing(Unknown Source)
at java.awt.Window.processWindowEvent(Unknown Source)
at javax.swing.JFrame.processWindowEvent(Unknown Source)
at java.awt.Window.processEvent(Unknown Source)
at java.awt.Component.dispatchEventImpl(Unknown Source)
at java.awt.Container.dispatchEventImpl(Unknown Source)
at java.awt.Window.dispatchEventImpl(Unknown Source)
at java.awt.Component.dispatchEvent(Unknown Source)
at java.awt.EventQueue.dispatchEventImpl(Unknown Source)
at java.awt.EventQueue.access$500(Unknown Source)
at java.awt.EventQueue$3.run(Unknown Source)
at java.awt.EventQueue$3.run(Unknown Source)
at java.security.AccessController.doPrivileged(Native Method)
at java.security.ProtectionDomain$JavaSecurityAccessImpl.doIntersectionPrivilege(Unknown Source)
at java.security.ProtectionDomain$JavaSecurityAccessImpl.doIntersectionPrivilege(Unknown Source)
at java.awt.EventQueue$4.run(Unknown Source)
at java.awt.EventQueue$4.run(Unknown Source)
at java.security.AccessController.doPrivileged(Native Method)
at java.security.ProtectionDomain$JavaSecurityAccessImpl.doIntersectionPrivilege(Unknown Source)
at java.awt.EventQueue.dispatchEvent(Unknown Source)
at java.awt.EventDispatchThread.pumpOneEventForFilters(Unknown Source)
at java.awt.EventDispatchThread.pumpEventsForFilter(Unknown Source)
at java.awt.EventDispatchThread.pumpEventsForHierarchy(Unknown Source)
at java.awt.EventDispatchThread.pumpEvents(Unknown Source)
at java.awt.EventDispatchThread.pumpEvents(Unknown Source)
at java.awt.EventDispatchThread.run(Unknown Source)
Caused by: com.jogamp.nativewindow.NativeWindowException: DC not released: GDISurface[ displayHandle 0x0
, surfaceHandle 0x52011cf4
, size 857x704
, UOB[ OWNS_SURFACE | OWNS_DEVICE | WINDOW_INVISIBLE ]
, WindowsWGLGraphicsConfiguration[DefaultGraphicsScreen[WindowsGraphicsDevice[type .windows, connection decon, unitID 0, handle 0x0, owner false, NullToolkitLock[obj 0x76933a78]], idx 0], pfdID 9, ARB-Choosen true,
requested GLCaps[rgba 8/8/8/1, opaque, accum-rgba 0/0/0/0, dp/st/ms 16/0/4, sample-ext default, one, mono , hw, GLProfile[GL4bc/GL4bc.hw], on-scr[.]],
chosen GLCaps[wgl vid 9 arb: rgba 8/8/8/8, opaque, accum-rgba 0/0/0/0, dp/st/ms 16/0/4, sample-ext default, dbl, mono , hw, GLProfile[GL4bc/GL4bc.hw], offscr[fbo]]]
, surfaceLock <673cfebd, 25dd3b36>[count 1, qsz 0, owner ]
, GDIDummyUpstreamSurfaceHook[pixel 857x704]
, upstreamSurface false ], isWindow false, werr 0, thread: AWT-EventQueue-0
at jogamp.nativewindow.windows.GDISurface.unlockSurfaceImpl(GDISurface.java:121)
at jogamp.nativewindow.ProxySurfaceImpl.unlockSurface(ProxySurfaceImpl.java:229)
at jogamp.opengl.GLDrawableImpl.unlockSurface(GLDrawableImpl.java:332)
at jogamp.opengl.GLContextImpl.destroy(GLContextImpl.java:509)
at com.jogamp.opengl.awt.GLJPanel$OffscreenBackend.destroy(GLJPanel.java:1816)
at com.jogamp.opengl.awt.GLJPanel$8.run(GLJPanel.java:1489)
... 32 more

Changing values in panel does not adjust matrix (affect the scene).
Changing the object in the scene does not auto-update the panel.

Robot should respond to human touch - first by moving in the direction of a push, second by stopping movement if an obstacle is encoutered.

Requires #31

Requires #29 and #4

Press record
Move robot with on screen or joystick controls
Press stop
new recording done.

Playback recording.
Automated testing that changes to tools do not break recordings?

Make it easy for devs to add in their own interfaces.
http://www.javaranch.com/journal/200607/Plugins.html
The big question is: "what should the API look like?"

What if we read the F3D file format directly and drew all models, all the time?

Set up a waypoint.
Assign the camera to look at the waypoint.
When the arm moves the orientation controls are ignored because the camera is always turned to look at the waypoint.

https://learnopengl.com/#!Advanced-Lighting/Shadows/Shadow-Mapping

moves on Z seem to rotate tool all the time.
moves along the axis of the finger seem to also rotate the tool.

rotate z stays the same - turns the tool at the current pose Z axis.
rotate x turns targetPose around the wrist X axis (the wrist bends forward and back around the target point)
rotate y turns taretPose around a vector that is the cross product of handZ and wristX.

https://www.aspose.com/ engine core features made easy?

Sixi2 needs to be able to pick up a tool or drop a tool. The tool exists as some kind of physical object in the world.

There must be code to find the tool adjacent to the hand when the grip is initiated. Where should this code live? Who calls it?

Same as Makelangelo

Would be nice to have #30 because then we can control forces.

Read sensor input from the real robot and use that to adjust the FK of the robot.

model is definitely not loading correctly. works fine from non-zip source.

Right now all input from all joysticks is shared by the one selected robot.
There is no mechanism for selecting two robots with two controllers, or keeping track of which input goes to which robot.
Recordings would also break because they wouldn't understand two joysticks.

Requires #34

Visible change to the tool state.

Decouple commands that do things from the HID. Somewhere there should be a list of "this action =button x", as you'd see in modern video games.

Does not require #28, but all customizable inputs should run through the InputMapper,

current DH method -> (theta i) rotates along (z i-1) [previous frame]
The dragball is written so that it rotates along the current frame (z i) therefore doesn't work with this method.

method 2 -> (theta i) rotates along (z i) [current frame], it works with dragball but it will require a new transformation matrix.

saved in eeprom so the software treats all robots the same, probably.

Spot light settings, attenuation, and directional/spot are not accessible through the LightPanel.
Also make sure they use undo/redo system!

Right now a texture cannot be created until the first frame.
What should happen is that an instance of texture is created, but the contents are not loaded until that texture calls render().
This pushes lots of ugly if(isSetup) code into the texture where it belongs.

Maven pom and assembly xml should be set up such that the RO project can be cloned and setup with a minimum of fuss. Ideally without having to manually open a jar file and extract native libraries.

JInput is what we hope to use. We need Maven POM setup help.

Nothing currently remembers, updates, or uses the project filename. Should probably be a RobotOverlord.StringEntity.

CommandLoad would set projectFilename.
CommandSaveAs would set projectFilename.
CommandSaveAs would use projectFilenameif available.

CommandSave should call CommandSaveAs if no projectFilename.

Build in RPI for web interface, camera interface, firmware updates, remote control driving.

Unique to each solver?
Will then let us solve for velocity, acceleration, and dynamics.

live video from camera projected into virtual world?

Requires #34

Tool can pick up a model in the world and move it around.

Load in your STL files
set up your D-H visually
save your setup as a generic D-H robot to be used any time.

Requires #29 and #4

Press record
physically move robot
press stop
new recording created

CameraEntity is really a PhysicalEntity with some movement restrictions

CameraSettings include "PhysicalEntity to which am I attached"

Similar to App About dialog. Link to individual product pages for each robot.

Requires #34, #35, and #4

Gamify programming tasks for the arm and build scripts to begin self-assembly.

making a note here to deal with it later.

expand existing robot self-collision detection to support inter-robot collision detection.

Maybe later use this with ModelInWorld to detect grasping? (out of scope for this issue)

Requires #27

Once joystick support is in, joystick control for driving robots or for flying the camera can be a thing.

Also save their position and orientation, related work pieces, combined scripts, etc.

And the instructions are only listed in makelangelo-softare.
And those instructions are hella vague.

uArm and arm3 are now covered by dhrobot_uarm and dhrobot_arm3. confirm they work OK and then ditch the old code.