Demo ROS script that implements the suturing task from 2021-2022 challenge?

[sunshineinsandiego]

Hi - Is there is a publicly available ROS demo script that implements the suturing task (similar to the gif here)? Would like to see how this works.

Perhaps the winning teams (CUHK, WPI, SDU) published their winning code somewhere? Thanks!

[adnanmunawar]

Similar question answered here (#69 (reply in thread)).

Only one of the winning teams was successful (partially) in Task 2 and they executed a fixed trajectory by using the error-free location of the PSMs and needle. That may not be very useful. As mentioned in the answer above.

This video was created by tele-operating the PSMs via MTMs and not a script. If you have access to the dVRK MTMs you can do the same. If not, we can probably re-record this and share a ROS Bag with you with the trajectories for the PSMs.

[sunshineinsandiego]

Got it, thanks Adnan. Wrote a reply in that thread. Would love to take a look at that ROS bag.