Get points from c++ plugin and feed them to the simulation

[ahundt]

• create brand new plugin
• open vrep path file
• insert into simulation
• test robot following simulation with newly imported path file
• Need a way to specify which file to load

Questions I need to figure out:

• getting data about current arm state in real time
  • plugin api allows an instance of FRI to be created and send data to/from vrep
• how to get joint angles to command to arm
  • there are commands to get the current state from the simulation
  • it may be best to ask specifically about getting info from reflexxes, however
• dealing with controller
• creating a path from the C++ API
  • We should use the path import/export formats for our first pass at path implementation.
• Path Import/Export
• Path Control Points and Bezier Points
• Path Movement
• Issue Integrate path planning #7 will likely have some useful non-realtime components for this task.
• Can the path be created in the C API?

Reflexxes Motion Library info from V-rep forum

Extra notes about eventual approach

Initially, I plan to run my arm's end effector along paths in simulation. However, the path will be in the frame of an object that moves very slightly every few time steps, so the path relative to the base frame of the robot will change correspondingly due to the movement of objects in the environment. The motion will be slight motions within the workspace, but they will make a significant difference in my situation. Later, I plan on running the simulation and the physical robot side by side.