How to config my own dvrk console

[fanke1213812138]

Dear teams,

I want config my own console.json. For example, I wan a console that can provide the simulated PSMs and the ECM. Now I have a console.json with simulated PSMs, and I can teleoperate with the MTMs. I want to add the simulated ECM in this console.json, but it can not work. Can you tell me how to config a console with simulated PSMS and ECM? Thank you very much!!

[adeguet1]

Hello,

This should be do-able. There are examples of console files with the full patient cart simulated: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/blob/master/share/console/console-patient-side-simulated.json

Can you explain what you mean by “it can not work”? Do you have an example of what you tried? Maybe copy/paste the error messages or attach the cisstLog-xxxx.txt file.

[fanke1213812138]

Thank you very much for your reply!

With the console-MTMR-PSM1-MTML-PSM2-Teleop-Simulated_nojointlimit.txt, I can teleoperate the simulated fake PSMs with the real MTMs. The GUI is shown as this picture. Then I add the the ECM in this .json file as consle_PSM_ECM_simulated.txt. There are no errors, but I still get the above GUI without MTM-ECM.

Thank you very much!

console-MTMR-PSM1-MTML-PSM2-Teleop-Simulated_nojointlimit.txt consle_PSM_ECM_simulated.txt

[adeguet1]

I can’t help but notice you’re using 1.7 which is a bit old. I hope the following works on 1.7 but I’m not 100% sure.

Teleoperation for the ECM requires 2 MTMs and the following should be added to your configuration file: "ecm-teleop": { "mtm-left": "MTML", "mtm-right": "MTMR", "ecm": "ECM" }

See for full example: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/blob/master/share/jhu-daVinci/console-SUJ-ECM-MTMR-PSM1-MTML-PSM2-PSM3-Teleop.json#L115

Documentation for 2.1 (might also be compatible with 1.7): https://dvrk.lcsr.jhu.edu/documentation/schemas/v2.1/dvrk-console.html#ecm-teleop

Anton

---

Anton Deguet Associate Research Engineer www.lcsr.jhu.eduhttp://www.lcsr.jhu.edu - www.malonecenter.jhu.eduhttp://www.malonecenter.jhu.edu

On Jan 14, 2022, at 14:13, fanke1213812138 @.**@.>> wrote:

Thank you very much for your reply!

With the console-MTMR-PSM1-MTML-PSM2-Teleop-Simulated_nojointlimit.txt, I can teleoperate the simulated fake PSMs with the real MTMs. The GUI is shown as this picture. [Screenshot from 2022-01-14 19-55-36]https://nam02.safelinks.protection.outlook.com/?url=https%3A%2F%2Fuser-images.githubusercontent.com%2F42082278%2F149570882-4947a5b7-7373-4259-9704-d7d45fdad796.png&data=04%7C01%7Canton.deguet%40jhu.edu%7C0662f6b544a5499edb5f08d9d791e593%7C9fa4f438b1e6473b803f86f8aedf0dec%7C0%7C0%7C637777843888372206%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&sdata=ZZLSrUv9in%2BbMRnh8%2F0Ahvan%2BqO6ryRX7u0nu7oWGbw%3D&reserved=0 Then I add the the ECM in this .json file as consle_PSM_ECM_simulated.txt. There are no errors, but I still get the above GUI without MTM-ECM.

Thank you very much!

console-MTMR-PSM1-MTML-PSM2-Teleop-Simulated_nojointlimit.txthttps://nam02.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fjhu-dvrk%2FsawIntuitiveResearchKit%2Ffiles%2F7872651%2Fconsole-MTMR-PSM1-MTML-PSM2-Teleop-Simulated_nojointlimit.txt&data=04%7C01%7Canton.deguet%40jhu.edu%7C0662f6b544a5499edb5f08d9d791e593%7C9fa4f438b1e6473b803f86f8aedf0dec%7C0%7C0%7C637777843888372206%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&sdata=izwATLgBVUo00xCHFKHzXVMO8tasKMx5pMy%2BwkItm6k%3D&reserved=0 consle_PSM_ECM_simulated.txthttps://nam02.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fjhu-dvrk%2FsawIntuitiveResearchKit%2Ffiles%2F7872655%2Fconsle_PSM_ECM_simulated.txt&data=04%7C01%7Canton.deguet%40jhu.edu%7C0662f6b544a5499edb5f08d9d791e593%7C9fa4f438b1e6473b803f86f8aedf0dec%7C0%7C0%7C637777843888372206%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&sdata=psZ0xyIExvCeaasFiPhhGEd5FDvamS3UgbBXzk7mReE%3D&reserved=0

— Reply to this email directly, view it on GitHubhttps://nam02.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fjhu-dvrk%2FsawIntuitiveResearchKit%2Fissues%2F152%23issuecomment-1013387099&data=04%7C01%7Canton.deguet%40jhu.edu%7C0662f6b544a5499edb5f08d9d791e593%7C9fa4f438b1e6473b803f86f8aedf0dec%7C0%7C0%7C637777843888372206%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&sdata=IIvNPRqIp9soA42zL7P1Iy1wR%2FxP%2By8W8HwD7EJy9Ck%3D&reserved=0, or unsubscribehttps://nam02.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fnotifications%2Funsubscribe-auth%2FAAIRP45PDSUZPUQLHFDWM6DUWBYUFANCNFSM5L7PGMOQ&data=04%7C01%7Canton.deguet%40jhu.edu%7C0662f6b544a5499edb5f08d9d791e593%7C9fa4f438b1e6473b803f86f8aedf0dec%7C0%7C0%7C637777843888372206%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&sdata=KrrNbT%2Furo%2BLYJz8nhTrr7zLk9ywUHAWJ2YJOFgh3lM%3D&reserved=0. You are receiving this because you commented.Message ID: @.***>

[fanke1213812138]

Thank you very much for your help. You help a lot! And my lab is going to update the version of dvrk. Thank you very much!