Matthew Downing (me):
– I soldered a bunch of wires to make a joint that splits one tangle of wires into two tangle of wires.
– He upgraded the robot’s Wi-Fi infrastructure. It’s harder than it sounds.
– He is hooking up the trajectory planning with the physical robot to make it move like the simulation. It’s apparently horrible to get configured.
– The configuration uses the USB2Dynamixel, University of Arizona Smart Arm Controllers, Nathaniel’s linear-actuator controllers, and the Arbotix software (hooking up arm contollers to ROS navigation).