MTM is not able to home

• Open file and modify homing tolerance to 4 deg or more:

gedit ~/catkin_ws/src/cisst-saw/sawIntuitiveResearchKit/core/components/code/mtsIntuitiveResearchKitMTM.cpp

m_trajectory_j.goal_tolerance.SetAll(3.0 * cmnPI_180); // hard coded to 3 degrees
m_trajectory_j.goal_tolerance.at(JNT_WRIST_ROLL) = 6.0 * cmnPI_180; // roll has low encoder resolution
m_trajectory_j.goal_tolerance.at(4) = 4.0 * cmnPI_180; // roll has low encoder resolution

• Recompile catkin build to reflect the change.

Joint direction is opposite

• There are several surgical instruments whose joint orientations vary depending on the type and version. For example, the Mega Needle Driver (Ref.420194) has the roll axis oriented in the opposite direction.

Open the "INSTRUMENT_TYPE.json" file at the following path and change the sign of the ActuatorToJointPosition matrix:

• Before

    "coupling" : {
        "ActuatorToJointPosition" : [[ -1.557500,  0.000000,  0.000000,  0.000000],
                                     [  0.000000,  1.000000,  0.000000,  0.000000],
                                     [  0.000000, -0.456081,  0.368243,  0.368243],
                                     [  0.000000,  0.000000, -0.736486,  0.736486]]
    }

• After (to change direction of rolling)

    "coupling" : {
        "ActuatorToJointPosition" : [[ 1.557500,  0.000000,  0.000000,  0.000000],
                                     [  0.000000,  1.000000,  0.000000,  0.000000],
                                     [  0.000000, -0.456081,  0.368243,  0.368243],
                                     [  0.000000,  0.000000, -0.736486,  0.736486]]
    }