Skip to content

1.3.0
Compare
Choose a tag to compare
@adeguet1 adeguet1 released this 31 Aug 16:29
· 1495 commits to main since this release
1.3.0
facbb1b

1.3.0 (2016-01-08)

  • API changes:
    • PSM: new file format (.rob replaced by .json with DH, coupling, limits, ...)
    • Added SetSimulated for all arms/PID for kinematic simulation (assumes perfect PID)
    • Console: better support for derived/simulated classes for ECM, PSM and MTM
  • Deprecated features:
    • None
  • New features:
    • PSM: improved engage procedure for sterile adapter and tool (uses trajectory generator)
    • PSM: increased PID gains significantly now that engage uses trajectories
    • PSM: when homing, do not go to zero position if tool is present
    • PSM: move sterile adapter all the way up when engaged
    • PSM: doesn't engage tool is tip is outside cannula
    • MTM: search for joint limits only first time it is homed (need to restart application to search again)
    • Added procedure to calibrate potentiometers, requires ROS build
    • Added SetWrench body/spatial on MTM/PSM with ROS topics, mode DVRK_EFFORT_CARTESIAN
    • SUJ: added JSON field to set brake current
  • Bug fixes:
    • More stable bias encoder from pots, uses multiple samples
    • Matlab config generator: selecting MTML didn't update IO and directions (#52)
Assets 2
Loading