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CHANGELOG.md

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Change log

2.0.0 (2024-07-11)

  • API changes:
    • Add SimulationManager and SimulationObject 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
  • 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 and PoseStamped 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 and move_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
  • 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

1.0.0 (2022-08-19)

  • No change log file, initial release