dVRK System Identification

What is in the folder

• signals/dvrk_excitation_signal_*.csv: CSV file that contains excitation path, specified as joint positions.
• dvrk_data_collect.py: python script that plays the excitation path on the designated PSM and invokes the data collection process.

How to use

Step 1:

Place dvrk_data_collect.py inside your catkin_ws. It can be in any folder.

Step 2:

Place the dvrk_excitation_signal_*.csv files in the same folder where you placed dvrk_data_collect.py. Technically, these csv files could be in another folder, but then you would need to specify the complete path to these files when you run the script.

Step 3:

Place the instrument LARGE-NEEDLE-DRIVER on the robot. If you don't have this instrument, you can use whatever instrument you have, but please leave a note about what instrument you used to collect data.

Step 4:

Run roscore and dvrk_robot.

# run roscore
cd <PATH-TO-YOUR-CATKIN-WS>  # go to your catkin_ws
source devel/setup.bash      # set environment variables
roscore                      

# in another terminal, run the dvrk application
cd <PATH-TO-YOUR-CATKIN-WS>  # go to your catkin_ws
source devel/setup.bash      # set environment variables
rosrun dvrk_robot dvrk_console_json -j <PATH-TO-YOUR-CONSOLE-CONFIG.JSON> -p 0.001 # run the dvrk console, it is IMPORTANT to set ROS rate to 1kHz, i.e., don't forget to add -p 0.001

Step 5:

Start playing excitation path and record data.

cd <PATH-TO-YOUR-CATKIN-WS>        # go to your catkin_ws
source devel/setup.bash            # set environment variables 
cd <PATH-TO-DVRK-DATA-COLLECT.PY>  # go to folder that contains dvrk_data_collect.py

# example usage: 
# 1. If you are using PSM1 with SUJ and you want to play excitation path dvrk_excitation_signal_1.csv
#    python2 dvrk_data_collect.py -a PSM1 -f dvrk_excitation_signal_1.csv -s PSM-SUJ
#
# 2. If you are using PSM2 only and you want to play excitation path dvrk_excitation_signal_3.csv
#    python2 dvrk_data_collect.py -a PSM2 -f dvrk_excitation_signal_3.csv -s PSM
#

python2 dvrk_data_collect.py -a <PSM-ID> -f <CSV-FILE-NAME> -s <DVRK-SETUP>

Step 6:

Repeat STEP 5 for all CSV files.

The end

Congratulations! You have reached the end of the data collection! Please zip your data folder data under your catkin_ws and send it to us. Please also note the version of dVRK software (e.g., Version 2.1.0) and firmware (e.g., Version 7) on your system. If you do not know the firmware version, you can type qladisp and it will report the firmware versions of all connected boards.

If you encounter any trouble during data collection, don't hesitate to contact me via email: [email protected]. I am also available for a zoom session to help you.

Your effort and time are much appreciated! Thank you for your contributions!