The dVRK manual specifies an extra offset between the last joint (wrist yaw joint) and the tip of the jaws (along the center line). This is called yaw to control point (abbreviated as Yaw2Ctrlpnt) as shown in the figure below.
The sawIntuitiveResearchKit sets this value to 0.0 while this repo does not. For consistency, there are two options.
Add the Yaw2Ctrlpnt offset in the sawIntuitiveResearchKit.
Remove the Yaw2Ctrlpnt offset in this repo (SRC).
While 1. seems more logical, we analyzed a clinical da Vinic (SI model) and discovered that it does not consider the Yaw2Ctrlpnt' offset. We tested this via teleoperating using an MTM and holding all the MTM joints fixed except the3rdlast and2ndlast joint independently. The SI PSM tool (Large Needle Driver) rotated around thewrist yaw jointrather than at some point further along between the jaws. Had theYaw2Ctrlpnt` offset been considered, the SI PSM tool would indeed have rotated at some other point.
Thus we should also ignore the Yaw2Ctrlpnt offset for consistency and mark it as such in the dVRK manual.
The dVRK manual specifies an extra offset between the last joint (wrist yaw joint) and the tip of the jaws (along the center line). This is called
yaw to control point(abbreviated asYaw2Ctrlpnt) as shown in the figure below.The
sawIntuitiveResearchKitsets this value to0.0while this repo does not. For consistency, there are two options.Yaw2Ctrlpntoffset in thesawIntuitiveResearchKit.Yaw2Ctrlpntoffset in this repo (SRC).While 1. seems more logical, we analyzed a clinical da Vinic (SI model) and discovered that it does not consider the
Yaw2Ctrlpnt' offset. We tested this via teleoperating using an MTM and holding all the MTM joints fixed except the3rdlast and2ndlast joint independently. The SI PSM tool (Large Needle Driver) rotated around thewrist yaw jointrather than at some point further along between the jaws. Had theYaw2Ctrlpnt` offset been considered, the SI PSM tool would indeed have rotated at some other point.Thus we should also ignore the
Yaw2Ctrlpntoffset for consistency and mark it as such in the dVRK manual.