Configuration File Formats

Introduction

The dVRK relies on multiple configurations files. Some are shared across systems and some are specific to each arm or site. Here is a quick overview:

IO: specific to each arm identified by its serial number. These need to be generated and calibrated by the user
IO foot pedals: provided with the dVRK code (shared)
PID: provided with the dVRK code (shared)
Kinematics: provided with the dVRK code (shared)
Instrument: provided with the dVRK code (shared)
Arm: specific to each arm
Console: specific to the combination of arms you're using

To get started, you will need to generate your IO XML configuration file. The Python configuration generator will also create the Arm JSON file as well as a simple Console JSON file.

More information:

You can find examples of configuration files in the shared directory: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/tree/main/share
For site specific examples, we recommend to use the JHU configuration repository: https://github.com/dvrk-config/dvrk_config_jhu
To see how each configuration file is used, Software Architecture

Pay close attention to units as we used different ones in different sections!

IO configuration files (XML)

Configuration files for sawRobotIO1394 are used to configure the low-level IOs with the dVRK controller. Some of the files are arm specific (potentiometer and electronics calibration) while some are shared accross systems (e.g. digital inputs that won't require calibration). Shared configuration files for standard digital IOs such as foot pedals, head sensor, endoscope focus controller... can be found in share/io. For all other files, see sawRobotIO1394 XML.

Console configuration files (JSON)

Starting with the dVRK version 2.0, the documentation for JSON based configuration files is generated using JSON schemas. Schemas can be found in the directory share/schemas.

Documentation for:

2.2 - 2.1 - 2.0
1.x

Arms configuration files (JSON)

Starting with the dVRK version 2.0, the documentation for JSON based configuration files is generated using JSON schemas. Schemas can be found in the directory share/schemas.

Documentation for:

Arms:
- ECM: 2.2 - ECM: 2.1 - 2.0
- MTM: 2.2 - MTM: 2.1 - 2.0
- PSM: 2.2 - PSM: 2.1 - 2.0
1.x

Instruments

The instrument's list, introduced in version 2.1 describes all the instruments (tools) supported by the dVRK. Users can also define their own list to support new or custom instruments.

Documentation for: