Measuring motion of arm

[ahundt]

Create a new “cut file”, convert a knee cut file
Control robot with cartesian motion
Control robot with constrained optimization based control
Evaluate benefit of different constraint and objective formulations
Given a fixed cut file what is the ideal starting configuration of the kuka (workspace check)
Run 100 different starting positions and see how the success rate compares
Mention as a use case the cutting of a knee implant
Need a representative cut file

Can you actually execute the path for a given
need loss function/distance metric between pose at each time step and actual.