CHANGELOG.md

Change log

2.1.0 (2024-11-25)

• Added back the simple phantom scene from SRC 2021-2022
• Updated needle shape to represent a real needle
• Cleaned up assets by moving meshes from assets folder to respective ADF folders

2.0.0 (2024-07-11)

• API changes:
  • Add SimulationManager and SimulationObject classes to implement potential unit convention
  • Add individual limits for Robot Joint Control UI
  • Add joint limits for PSM and ECM, update the GUI as well
  • Use configuration files based on dVRK package to load the kinematic parameters instead hard-coding
• Deprecated Features:
  • Remove JP recorder (Python based recording scripts), use ROS bag recorder instead
  • Remove the old synthetic phantom
  • Remove unused files
• New Features:
  • Use TransformStamped and PoseStamped for cartesian space message types instead of the PyKDL data type
  • Add an MRI-scanned 3-Dmed Soft Tissue Suture Pad into the simulation environment as the new phantom
  • Add move_jp and move_cp commands for PSMs (use interpolation to smooth the long-distance movements)
  • Add Razer Hydra PC Gaming Motion Sensing Controller as an alternative haptic teleoperation device
  • Add new motion recorder and replayer using ROS bags
  • Add the realistic da Vinci Si PSM Large Needle Driver model into the simulation
  • Redo the grasping algorithm using contact sensors
  • Detect tool type from an empty body in PSM yaml files
  • Modify the file names to include the instrument ID
  • Change the namespace of the files to make them self-explained
• Bug fixes:
  • Set the model level gravity to zero in order to improve the control accuracy
  • Rescaled simulation assets to SI units and tune the physical properties of the objects.(In version 1.0.0, the assets were scaled by 10)
  • Redo the mapping between the MTM gripper angles to the simulated PSM gripper angles
  • Cleaned up and reorganized directory structure

1.0.0 (2022-08-19)

• No change log file, initial release