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surgical-robotics-ai / surgical_robotics_challenge

Interactive Robot Assisted Suturing Simulation
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Add recorder and support Razer Hydra controller #2

Closed JackHaoyingZhou closed 3 years ago

adnanmunawar commented 3 years ago

Hey Jack. Thanks for the PR. I had a few questions.

  1. What is the difference between the razer_multi_psm_control and razer_multi_psm_control_direct script?
  2. Is the get_joy script important in PR? Can it be merged with any other script or removed?
  3. Why do we need the joint_position recorder script? We can simply record stuff using ROS bag and then save it to a format of our choice.
JackHaoyingZhou commented 3 years ago

Hi Adnan,

Sorry for late response.

Firstly, the PR was created last month or earlier, therefore it may have some minor mistakes, such as using move_cp() not servo_cp(). You may need to manually modify some of them and sorry about the inconvenience.

For your questions:

  1. They are basically the same. The one with "direct" suffix is to control the da Vinci simulation via pure data input. We may discard it.

  2. No, it is not important. Please feel free to remove it.

  3. This recorder script is designed to record any data when running the code and load the recorded data. I suppose that ROS bag can only work with ROS topics and thus some intermediate results may not be recorded. Also, I am a little bit worried about the recording frequency when using ROS bag. For this minor program, we can run it with frequency up to 80-100 Hz (confirmed, higher frequency could be achievable but no test about it ). In addition, we can also self-define the format of the recorded files in this script. Anyway, we don't have to include this script if ROS bag can accomplish the recording task.

Please feel free to contact me if you have any further questions or need any additional information. Thanks!

Best, Jack

发件人: Adnan Munawar @.> 发送时间: 2021年8月11日 16:18 收件人: adnanmunawar/surgical_robotics_challenge @.> 抄送: JackHaoyingZhou @.>; Author @.> 主题: Re: [adnanmunawar/surgical_robotics_challenge] Add recorder and support Razer Hydra controller (#2)

Hey Jack. Thanks for the PR. I had a few questions.

  1. What is the difference between the razer_multi_psm_control and razer_multi_psm_control_direct script?
  2. Is the get_joy script important in PR? Can it be merged with any other script or removed?
  3. Why do we need the joint_position recorder script? We can simply record stuff using ROS bag and then save it to a format of our choice.

― You are receiving this because you authored the thread. Reply to this email directly, view it on GitHubhttps://github.com/adnanmunawar/surgical_robotics_challenge/pull/2#issuecomment-897123539, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AIUIOY7ZWMURZQ73JTN5GYTT4LLJXANCNFSM47J6QFKQ. Triage notifications on the go with GitHub Mobile for iOShttps://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Androidhttps://play.google.com/store/apps/details?id=com.github.android&utm_campaign=notification-email.

JackHaoyingZhou commented 3 years ago

Correction，the recorder can also be consistent with 200Hz frequency

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From: 周 昊英 @.> Sent: Thursday, August 12, 2021 2:44:52 AM To: adnanmunawar/surgical_robotics_challenge @.>; adnanmunawar/surgical_robotics_challenge @.> Cc: Author @.>; Zhou, Haoying @.***> Subject: [EXT] 回复: [adnanmunawar/surgical_robotics_challenge] Add recorder and support Razer Hydra controller (#2)

Hi Adnan,

Sorry for late response.

Firstly, the PR was created last month or earlier, therefore it may have some minor mistakes, such as using move_cp() not servo_cp(). You may need to manually modify some of them and sorry about the inconvenience.

For your questions:

  1. They are basically the same. The one with "direct" suffix is to control the da Vinci simulation via pure data input. We may discard it.

  2. No, it is not important. Please feel free to remove it.

  3. This recorder script is designed to record any data when running the code and load the recorded data. I suppose that ROS bag can only work with ROS topics and thus some intermediate results may not be recorded. Also, I am a little bit worried about the recording frequency when using ROS bag. For this minor program, we can run it with frequency up to 80-100 Hz (confirmed, higher frequency could be achievable but no test about it ). In addition, we can also self-define the format of the recorded files in this script. Anyway, we don't have to include this script if ROS bag can accomplish the recording task.

Please feel free to contact me if you have any further questions or need any additional information. Thanks!

Best, Jack

发件人: Adnan Munawar @.> 发送时间: 2021年8月11日 16:18 收件人: adnanmunawar/surgical_robotics_challenge @.> 抄送: JackHaoyingZhou @.>; Author @.> 主题: Re: [adnanmunawar/surgical_robotics_challenge] Add recorder and support Razer Hydra controller (#2)

Hey Jack. Thanks for the PR. I had a few questions.

  1. What is the difference between the razer_multi_psm_control and razer_multi_psm_control_direct script?
  2. Is the get_joy script important in PR? Can it be merged with any other script or removed?
  3. Why do we need the joint_position recorder script? We can simply record stuff using ROS bag and then save it to a format of our choice.

― You are receiving this because you authored the thread. Reply to this email directly, view it on GitHubhttps://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fadnanmunawar%2Fsurgical_robotics_challenge%2Fpull%2F2%23issuecomment-897123539&data=04%7C01%7Chzhou6%40wpi.edu%7Cbe579fae14044b49a3db08d95d5cb156%7C589c76f5ca1541f9884b55ec15a0672a%7C0%7C0%7C637643475592058874%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&sdata=ePcOO%2BQsEcXkBLdv4Oti4cbaAqyC9dWgA0lLdZrGwTw%3D&reserved=0, or unsubscribehttps://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fnotifications%2Funsubscribe-auth%2FAIUIOY7ZWMURZQ73JTN5GYTT4LLJXANCNFSM47J6QFKQ&data=04%7C01%7Chzhou6%40wpi.edu%7Cbe579fae14044b49a3db08d95d5cb156%7C589c76f5ca1541f9884b55ec15a0672a%7C0%7C0%7C637643475592068867%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&sdata=xox85%2BIhUTc7cE2Qrf7eyIUjTQE4VPSoClu62vmC9Gk%3D&reserved=0. Triage notifications on the go with GitHub Mobile for iOShttps://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fapps.apple.com%2Fapp%2Fapple-store%2Fid1477376905%3Fct%3Dnotification-email%26mt%3D8%26pt%3D524675&data=04%7C01%7Chzhou6%40wpi.edu%7Cbe579fae14044b49a3db08d95d5cb156%7C589c76f5ca1541f9884b55ec15a0672a%7C0%7C0%7C637643475592068867%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&sdata=E%2FE9jx8C5LtCXuAfw%2BUFt28LNIYyPfGkSyjqKUPVUTs%3D&reserved=0 or Androidhttps://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fplay.google.com%2Fstore%2Fapps%2Fdetails%3Fid%3Dcom.github.android%26utm_campaign%3Dnotification-email&data=04%7C01%7Chzhou6%40wpi.edu%7Cbe579fae14044b49a3db08d95d5cb156%7C589c76f5ca1541f9884b55ec15a0672a%7C0%7C0%7C637643475592078861%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&sdata=iZxCZNY6Z%2FzW%2BES1ZRl%2FIQIptUPrqEUEBymWvEUZ1ec%3D&reserved=0.

JackHaoyingZhou commented 3 years ago

New PR created