MTM teleoperated equipment gravity problem in mtm_psm_pair_run.py

[Xuegegeupupup]

@adnanmunawar

Hi, impressed by your amazing work. Now I am conducting some work based your simulator and meet some problem. I would appreciate it if you could help me solve some issues.

When I use mtm_psm_pair_run.py to activate the MTM device to operate the PSM in the AMBF, the MTM always falls due to gravity when I don't hold it with my hands, and the PSM in the AMBF moves.

I would like to ask how to avoid this situation so that the PSM will only move when I operate the MTM.

Thank you very much. Looking forward to your reply.

[adnanmunawar]

Hello,

For the MTM falling issue, the best option is to perform gravity compensation on the MTMs and then launch the MTMs to use it to prevent the free fall.

The second option (which can work in combination with option 1) has to do with only controlling the PSMs based on a trigger (either using the foot-pedal or the operator present sensor in the stereo viewer console). In this approach, you would only be able to move the PSMs in AMBF if you press a button (COAG) on the footpedal, or put your head in stereo viewer console so the sensor within detects that a user is present.

The latter is already implemented in the mtm_psm_pair_run.py. Is this not the behavior that you are experiencing?

To switch between using the COAG footpedal button and the head sensor, please check this document out.

[Xuegegeupupup]

@adnanmunawar
Hi, Thank you for your reply.

For the second method, the code you provided is feasible, but when the head sensor senses, after the MTM activates the manipulable simulator, the force of the MTM falling due to gravity is very obvious, which is significantly different from the force required to operate the real PSM normally.

In addition, after the head sensor senses, the PSM_gripper in the simulator will have uncontrolled axial movement at the beginning.

I don't know if there are relevant settings that can change the above situation.