Configuration file format for the dVRK PSM arm component. Some of the properties are inherited from the See dVRK wiki.<ul><li>PSM schema extends arm schema<li>For details of implementation, see code under sawIntuitiveResearchKit/components/code/mtsIntuitiveResearchKitPSM.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.
Extra instrument list loaded for this arm. By default, the supported instruments are defined in the file share/tool/index.html but one might need some new instruments. This can be to support custom instruments or standard ISI instruments not yet supported by the dVRK (see dVRK wiki). The filename can be absolute or relative to sawIntuitiveResearchKit/share. For example "jhu-dVRK/custom-tool/custom-tool-index.json"
Set the tool detection method. Possible values are defined in sawIntuitiveResearchKit/components/code/mtsIntuitiveResearchKitToolTypes.cdg. For more details regarding tool detection see the dVRK wiki.
Tool type (e.g. "LARGENEEDLEDRIVER:400006" or "LARGENEEDLEDRIVER:420006[12]" if the version is needed). This is required if the "tool-detection" is set to "FIXED" and ignored otherwise. This emulates the behavior of the dVRK 1.x and should only be used if the tool is never changed.