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jhu-dvrk / dvrk-ros

daVinci Research Kit ROS stack. See dVRK wiki to get started: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki
https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki
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Release gravity compensation from CUHK #28

Closed vincent-hui closed 5 years ago

zchen24 commented 5 years ago

@vincent-hui @linhongbin Is this PR ready for review? Thanks.

adeguet1 commented 5 years ago

To all, I ran into some hardware issues last week and couldn’t test the branch. I should be able to test the code early this week and send some feedback.

On Nov 5, 2018, at 04:39, Zihan Chen notifications@github.com wrote:

@vincent-hui https://github.com/vincent-hui @linhongbin https://github.com/linhongbin Is this PR ready for review? Thanks.

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linhongbin commented 5 years ago

Hi all, I push a new version for matlab codes of dvrk GC. Since the time we push the fisrt version, we have improved our method to achieve a more stable and reproducible gravity compensation process. The 2nd version is not compatible with the 1st one. So after you pull from the remote, you might need to rerun all the process by calling:

[GC_controllers,output_data_struct] = gc_demo('MTML&MTMR')

If you have done data collection using 1st version, the data folder should be decapitated.

For separated testing, you might need to run(takes MTML for example): For datacollection: [is_dataCollection_finish, output_data_struct] = dataCollection('MTML', 'dataCollection_config.json');

For estimation: [is_MTM_lse_finish, output_dynamic_matrix, output_lse_config] = MLSE('MTML', 'MLSE_config.json', './../GC_Data_stable_test')

For GC_controllers: [is_test_pass,GC_Controllers] = GC_controller('MTML','GC_controller_config.json','./../GC_Data_stable_test','4POL',9.81)

The whole data collection process might takes around 1 hour for each arm.

Looking forward for news of review.

adeguet1 commented 5 years ago

Just to confirm, this PR is now obsolete and the update code can be found at https://github.com/jhu-dvrk/dvrk-gravity-compensation

@vincent-hui , @linhongbin , can we close this PR?

vincent-hui commented 5 years ago

yes, we can close this PR.