- API changes:
- Add
SimulationManager
andSimulationObject
classes to implement potential unit convention - Add individual limits for Robot Joint Control UI
- Add joint limits for PSM and ECM, update the GUI as well
- Use configuration files based on dVRK package to load the kinematic parameters instead hard-coding
- Add
- Deprecated Features:
- Remove JP recorder (Python based recording scripts), use ROS bag recorder instead
- Remove the old synthetic phantom
- Remove unused files
- New Features:
- Use
TransformStamped
andPoseStamped
for cartesian space message types instead of the PyKDL data type - Add an MRI-scanned 3-Dmed Soft Tissue Suture Pad into the simulation environment as the new phantom
- Add
move_jp
andmove_cp
commands for PSMs (use interpolation to smooth the long-distance movements) - Add Razer Hydra PC Gaming Motion Sensing Controller as an alternative haptic teleoperation device
- Add new motion recorder and replayer using ROS bags
- Add the realistic da Vinci Si PSM Large Needle Driver model into the simulation
- Redo the grasping algorithm using contact sensors
- Detect tool type from an empty body in PSM yaml files
- Modify the file names to include the instrument ID
- Change the namespace of the files to make them self-explained
- Use
- Bug fixes:
- Set the model level gravity to zero in order to improve the control accuracy
- Rescaled simulation assets to SI units and tune the physical properties of the objects.(In version 1.0.0, the assets were scaled by 10)
- Redo the mapping between the MTM gripper angles to the simulated PSM gripper angles
- Cleaned up and reorganized directory structure
- No change log file, initial release