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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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Automated PSM calibration #39

Closed brendanburkhart closed 2 years ago

brendanburkhart commented 2 years ago

Provides new script dvrk_calibrate_potentiometer_psm_cv.py which automates the calibration procedure from dvrk_calibrate_potentiometer_psm.py. Usage instructions provided in wiki page, and the script also provides some instruction prompts as it runs.

adeguet1 commented 2 years ago

In both files, I think you can add yourself as author and update the copyright period (up to 2022).

For all method names, picky detail, can you stick to either snake_case or camelCase? I have a slight preference for snake_case.

In the file psm_calibration_cv.py, can you add a note saying the file is used by dvrk_calibrate_potentiometer_psm_cv.py.

Final question. The old program allows to rock the PSM using the first or second joint. Is that supported and tested for the CV version?

brendanburkhart commented 2 years ago

The program will run using either joint, but using the other swing joint the calibration it produces seems to be wrong - the joint 5 axis screw seems to follow an S-curve rather than a simple curve when the joint is rocked. Should I remove the ability to use the other swing joint, or try to get it to work with either joint?