Home

Framework Overview

dvrk_gravity_compensation mainly consists of 4 processes:

• wizard_config_dataCollection
• dataCollection
• mlse
• gc_controller

The figure shows the overview flow of the codes.

Introduction to code blocks

1.wizard_config_dataCollection

Input arguments:

• ARM_NAME:'MTML' or 'MTMR' (left or right Master Tool Manipulator)
• SN :'12345' (Serial Number of MTM)

Read JSON file (Hardcode):

• dataCollection_config.json (JSON file which stores configuration of trajectory and constraints in dataCollection)

Output file:

• dataCollection_config_customized.json (Customized JSON file which stores configuration of trajectory and constraints in dataCollection)

2.dataCollection

Input arguments:

• dataCollection_config_customized.json

Save data path :

• '..\GC_Data_stable <ARM_NAME>_<Current-date-and-time>'(For example: '..\GC_Data_stable\MTML_12345\November-28-2018-18:04:11')

Output file:

• dataCollection_info.json (JSON file which stores configuration of dataCollection and some general information)

3.mlse

Input arguments:

• dataCollection_info.json

Ouput file:

• gc-<ARM-Name>-<SN>.json (JSON file which stores dynamics parameters and other parameters for gc controller

4.gc_controller

Input arguments:

• gc-<ARM-Name>-<SN>.json

Output file:

• mtm_gc_controller (Gravity compensation controller class object)