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../../../_images/logic-view-soft-teleop.gif

6.4.5. Teleoperation

Warning

Make sure you can detect the operator’s presence.

You can define multiple tele-operation components for different pairs of MTM/PSMs. You can use the same PSM or MTM in different teleoperation pairs (see console component and API).

"psm-teleops":
[
  {
    "mtm": "MTMR",
    "psm": "PSM1"
  }
]
,
"ecm-teleop":
{
  "mtml-left": "MTML",
  "mtmr-right": "MTMR",
  "ecm": "ECM"
}

Note that “ecm-teleop” requires an ECM. This feature is available in version 1.6.0 and above.

For release 1.6 and above, there is a new scope for tele-operation components called “configure-parameter”. In this scope, one can define the teleoperation scale, misc. thresholds and other configuration parameters. For example, if one wants to disable all jaw motions:

"psm-teleops":
[
  {
    "mtm": "MTMR",
    "psm": "PSM1",
    "configure-parameter": {
      "ignore-jaw": true
    }
  }
]