dVRK tool list 2.2

Type: object

Configuration file format for the dVRK tool list. See dVRK wiki.<ul><li>This format is used by the application sawIntuitiveResearchKitQtConsoleJSON and the ROS application dvrk_robot dvrk_console_json<li>This file defines the mapping between an instrument's name the the file used to define all the parameters for said instrument, i.e. DH, joint limits, maximum torques...<li>For details of implementation, see code under sawIntuitiveResearchKit/components/code/mtsToolList.cpp<li>Schema file<li>Examples can be found in sawIntuitiveResearchKit/share/tool/index.json and sawIntuitiveResearchKit/share/jhu-dVRK/custom-tool/custom-tool-index.json</ul>

 No Additional Properties

root instruments
Type: array of object

List of supported instruments (i.e. tools)

 No Additional Items

Each item of this array must be:

root instruments instruments items
Type: object

Definition of an instrument

 No Additional Properties

root instruments instruments items model
Type: string

6 digits model number. The first 3 digits are 400 if the tool is based on a Classic tool, 420 for S. If you have different instruments make sure this is unique. For example, the Classic Large Needle Driver model number is "400006" and the S/Si Large Needle Driver is "420006".

root instruments instruments items names
Type: array of string

Name(s) of the instrument. This field is compared to the value reported by the instrument's Dallas chip and might vary. You can provide multiple names.

 No Additional Items

Each item of this array must be:

root instruments instruments items names names items
Type: string

Name of the instrument. By convention, use all caps with underscores. For example "LARGENEEDLEDRIVER". The full name of the instrument is also including the required model and optional version, for example "LARGENEEDLEDRIVER:420006[12]

root instruments instruments items version_min
Type: integer

Minimum version supported. This is optional but if provided, one must make sure the ranges for a single instrument "name:model" don't overlap.

Value must be greater or equal to 0

root instruments instruments items version_max
Type: integer

Maximum version supported. This is optional but if provided, one must make sure the ranges for a single instrument "name:model" don't overlap. If "versionmin" is provided but not "versionmax", any instrument with a version higher than "version_min" will be using this instrument's "file".

Value must be greater or equal to 0

root instruments instruments items description
Type: string

Human readable string. This string is used in the GUI in the drop-down menu to select an instrument if the "tool-detection" is set to "MANUAL". For example "Large Needle Driver".

root instruments instruments items generation
Type: enum (of string)

If you are re-using the "Classic" instrument, "S" otherwise. For most instruments, this indicates what is the length of the shaft and therefore helps define at what depth the tool should start the engage process.

Must be one of:

  • "Classic"
  • "S"

root instruments instruments items file
Type: string

File with the tool DH and other parameters. You should use a path relative to sawIntuitiveResearchKit/share. The file name should match the "name"_"model"