{
    "$schema": "http://json-schema.org/draft-07/schema#",
    "$id": "dvrk-psm.schema.json",
    "$version": "1",
    "title": "dVRK PSM",
    "description": "Configuration file format for the dVRK PSM arm component. See the [dVRK documentation](https://dvrk.readthedocs.io).\n\n - PSM schema extends [dVRK arm schema](dvrk-arm.html)\n - For details of implementation, see code under `sawIntuitiveResearchKit/core/components/code/mtsIntuitiveResearchKitPSM.cpp`\n - [Schema file](dvrk-psm.schema.json)",
    "allOf": [
        { "$ref": "dvrk-arm.schema.json" },

        {
            "title": "PSM specific",
            "properties": {
                "custom_tool_index": {
                    "description": "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 the [dVRK documentation](https://dvrk.readthedocs.io)).  The filename can be absolute or relative to `sawIntuitiveResearchKit/share`.  For example \"jhu-dVRK/custom-tool/custom-tool-index.json\"",
                    "type": "string"
                }
                ,
                "tool_detection": {
                    "description": "Set the tool detection method.  Possible values are defined in `sawIntuitiveResearchKit/core/components/code/mtsIntuitiveResearchKitToolTypes.cdg`.  For more details regarding tool detection see the [dVRK documentation](https://dvrk.readthedocs.io).",
                    "type": "string",
                    "enum": ["AUTOMATIC", "MANUAL", "FIXED"],
                    "default": "AUTOMATIC"
                }
                ,
                "tool": {
                    "description": "Tool type (e.g. \"LARGE\\_NEEDLE\\_DRIVER:400006\" or \"LARGE\\_NEEDLE\\_DRIVER: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.",
                    "type": "string"
                }
            }
        }
    ]
}