Unable to simulate properly the first simulation example

[surgical-robotics-ai]

Unable to simulate properly the first simulation example

[adnanmunawar]

Hello,
When you launch the scene and do not control the PSM arms, the first picture is what the scene should look like. The arms are retracted back as no control is active. Only once you engage the arms, using, for example, the example scripts, would they move forward and appear in the scene. Or is your issue that you are not able to control the arms?

[astitwlathe]

Hi Adnan,
Thanks for the reply. I used the the example script gui_based_control.py. It worked but I couldn't understand the robot coordinate system. Can you please elaborate on this topic?

[adnanmunawar]

Hello Astitwa,

Glad that you were able to make the example work. We are working on a diagram with the frame assignment to help with this. We would put it in the documentation soon.

P.S. I would suggest putting questions in the discussions rather than issues.

[adnanmunawar]

Please refer to the following document for scene coordinate frames.