Configuration file format for the dVRK ECM arm component. Some of the properties are inherited from the See dVRK wiki.<ul><li>ECM schema extends arm schema<li>For details of implementation, see code under sawIntuitiveResearchKit/components/code/mtsIntuitiveResearchKitECM.cpp<li>Schema file</ul>
Configuration file format for the dVRK arm component. See dVRK wiki. This schema is not used directly, it is extended for each arm type: ECM, MTM and PSM.<ul>For details of implementation, see code under sawIntuitiveResearchKit/components/code/mtsIntuitiveResearchKitArm.cpp<li>Schema file</ul>
Kinematic configuration file, i.e. DH parameters for class robManipulator.
Force re-homing, i.e. computer encoder preloads based on potentiometer readings and for MTMs, search for mechanical limit for the last joint (roll)
Indicates if the arm should go to zero position in joint space during homing procedure. This is true by default for MTMs and false for other arms (PSM and ECM). For MTMs, it makes sense to go the zero position when homing so the arms are conveniently placed for the operator to get started. Furthermore, going to zero during homing will position each joint away from the joint limit. This is particularly useful for the MTM roll. For all arms on the patient side, it is safe to assume that the arms shouldn't move on their own. This is obvious for the real da Vinci system with actual patients. For research applications, moving automatically to zero can also damage equipement around the arms or mounted on the tools (e.g. strain gages). Finally, the PSM will only move to zero position during the homing procedure if there is no tool detected, i.e. the arm will never move if a tool is present. Most users should steer away from this setting.
Set the endoscope type. Possible values are defined in sawIntuitiveResearchKit/components/code/mtsIntuitiveResearchKitEndoscopeTypes.cdg. Classic and Si determine the generation of endoscopic cameras. Classic is for the Standard/Classic (first generation) as well as S systems. Si is for the 3rd generation. The Si cameras have Si HD written on them. NONE, HD and SD are used to determine the approximative mass of the endscope camera head used for gravity compensation. STRAIGHT, UP or DOWN indicates the direction of the endoscope tip. The direction of the endoscope tip is used to define the tool tip transformation added to the ECM kinematic chain. The tool tip transformation is used for both forward and inverse kinematic computations. This can be overwritten at runtime using the GUI or ROS topics.