Since there are multiple systems at CUHK, the configuration files are organized in sub-directories.
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cuhk-daVinci: this is the full da Vinci system, with setup joints, currently located in the MRC.
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cuhk-dVRK: this is a dVRK system, currently located at Prince of Wales Hospital (PWH).
The cuhk-daVinci system was updated to dVRK software version 2.3.0, and the configuration files were updated in June 2025. At that time, it was discovered that the MTM serial numbers were 73298 (MTML) and 28002 (MTMR) instead of 41878 (MTML) and 31519 (MTMR). The CAL files for 73298 and 28002, originally in the cuhk-dVRK subdirectory, were copied to the cuhk-daVinci subdirectory. It is possible that 41878 and 31519 are with the dVRK, but this has not been verified. It is also possible that there is no surgeon console with the dVRK.
The Version 5 XML files for 73298 and 28002 were created by running the config generator with the original CAL files, and then updating the motor current calibration by copying the values from the previous XML files. The MTML board ids were changed from the defaults of 0,1 to 4,5 to match the CUHK hardware setup. Then, the potentiometer scale calibration was performed. The potentiometer offsets were left at their default values (based on the CAL files). The potentiometer distance tolerance for MTMR axes 4 and 5 was changed from the default value of 5.0 to 20.0 to match the previous versions of the files; without this change, the robot would not home.