Configuration file format for the dVRK tool list. See the dVRK documentation.
sawIntuitiveResearchKitSystem and the ROS application dvrk_robot dvrk_systemsawIntuitiveResearchKit/core/components/code/mtsToolList.cppsawIntuitiveResearchKit/share/tool/index.json and sawIntuitiveResearchKit/share/jhu-dVRK/custom-tool/custom-tool-index.jsonList of supported instruments (i.e. tools)
No Additional ItemsDefinition of an instrument
No Additional Properties6 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".
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 ItemsName of the instrument. By convention, use all caps with underscores. For example "LARGE_NEEDLE_DRIVER". The full name of the instrument is also including the required model and optional version, for example "LARGE_NEEDLE_DRIVER:420006[12]
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
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 "version_min" is provided but not "version_max", any instrument with a version higher than "version_min" will be using this instrument's "file".
Value must be greater or equal to 0
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".
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.
File with the tool DH and other parameters. You should use a path relative to sawIntuitiveResearchKit/share. The file name should match "<name>_<model>.json", e.g. "LARGE_NEEDLE_DRIVER_400006.json"