================================
Base
================================
.. py:currentmodule:: kortex_api.autogen
.. _BaseArmCalibrationStatusType:
.. py:class:: ArmCalibrationStatusType
Arm calibration status type
:canonical: kortex_api.autogen.messages.Base_pb2.ArmCalibrationStatusType
.. py:attribute:: ARM_CALIBRATION_STATUS_UNKNOWN (0): Unknown arm calibration status
.. py:attribute:: ARM_CALIBRATION_STATUS_CALIBRATED (1): Calibrated status
.. py:attribute:: ARM_CALIBRATION_STATUS_NOT_CALIBRATED (2): Not calibrated status
.. py:attribute:: ARM_CALIBRATION_STATUS_WAITING_ARM_POWER_ON (3): Waiting arm power on status
.. _BaseServiceVersion:
.. py:class:: ServiceVersion
Identifies Base service current version
:canonical: kortex_api.autogen.messages.Base_pb2.ServiceVersion
.. py:attribute:: RESERVED_0 (0): Reserved
.. py:attribute:: CURRENT_VERSION (1): Current version
.. _BaseActionType:
.. py:class:: ActionType
Admissible types of actions
:canonical: kortex_api.autogen.messages.Base_pb2.ActionType
.. py:attribute:: UNSPECIFIED_ACTION (0): Unspecified action type
.. py:attribute:: SEND_TWIST_COMMAND (1): Control the robot in Cartesian velocity
.. py:attribute:: SEND_JOINT_SPEEDS (4): Control each joint speed
.. py:attribute:: TOGGLE_HAND_GUIDING_MODE (13): Enable or disable the Hand-Guiding mode
.. py:attribute:: SWITCH_CONTROL_MAPPING (16): Switch the active controller map
.. py:attribute:: NAVIGATE_JOINTS (17): Select the next actuator to control from control mapping
.. py:attribute:: NAVIGATE_MAPPINGS (18): Select a different map
.. py:attribute:: CHANGE_TWIST (22): Change the twist
.. py:attribute:: CHANGE_JOINT_SPEEDS (23): Change the joint speeds individually
.. py:attribute:: APPLY_QUICK_STOP (28): Apply robot quick stop
.. py:attribute:: CLEAR_FAULTS (29): Clear faults. Robot will be able to move if there is no more fault (see BaseCyclic.BaseFeedback.[fault_bank_a | fault_bank_b])
.. py:attribute:: EXECUTE_ACTION (32): Execute an existing action
.. py:attribute:: STOP_ACTION (35): Stop robot movement
.. py:attribute:: PLAY_PRE_COMPUTED_TRAJECTORY (39): Play a pre-computed trajectory
.. py:attribute:: EXECUTE_WAYPOINT_LIST (41): Execute a trajectory defined by a series of waypoints
.. py:attribute:: CHANGE_PAYLOAD_PARAMETERS (42): Change the payload
.. _BaseNetworkType:
.. py:class:: NetworkType
Admissible network types This is currently used in armbase. Will be moved out of base.proto eventually.
:canonical: kortex_api.autogen.messages.Base_pb2.NetworkType
.. py:attribute:: UNSPECIFIED_NETWORK_TYPE (0): Unspecified network type
.. py:attribute:: WIFI (1): Wi-Fi network
.. py:attribute:: WIRED_ETHERNET (2): Wired Ethernet network
.. py:attribute:: WIRED_MICROUSB (3): Wired Ethernet over USB network (RNDIS)
.. _BaseWifiSecurityType:
.. py:class:: WifiSecurityType
Admissible Wi-Fi Security types This message may be removed in a future release. It has been moved to Network service.
:canonical: kortex_api.autogen.messages.Base_pb2.WifiSecurityType
.. py:attribute:: UNSPECIFIED_AUTHENTICATION (0): Unspecified Wi-Fi security type
.. py:attribute:: WEP (1): WEP authentication required
.. py:attribute:: WPA2_PERSONAL (2): WPA2 Personal authentication required
.. py:attribute:: WPA_PERSONAL (4): WPA Personal authentication required
.. py:attribute:: NO_AUTHENTICATION (8): No authentication required
.. _BaseWifiEncryptionType:
.. py:class:: WifiEncryptionType
Admissible Wi-Fi encryption types This message may be removed in a future release. It has been moved to Network service.
:canonical: kortex_api.autogen.messages.Base_pb2.WifiEncryptionType
.. py:attribute:: UNSPECIFIED_ENCRYPTION (0): Unspecified Wi-Fi encryption type
.. py:attribute:: AES_ENCRYPTION (1): AES encryption
.. py:attribute:: TKIP_ENCRYPTION (2): TKIP encryption
.. py:attribute:: WEP_ENCRYPTION (4): WEP encryption
.. _BaseSignalQuality:
.. py:class:: SignalQuality
Admissible signal quality values This message may be removed in a future release. It has been moved to Network service.
:canonical: kortex_api.autogen.messages.Base_pb2.SignalQuality
.. py:attribute:: UNSPECIFIED_SIGNAL_QUALITY (0): Unspecified signal quality
.. py:attribute:: POOR (1): Poor signal quality
.. py:attribute:: FAIR (2): Fair signal quality
.. py:attribute:: GOOD (3): Good signal quality
.. py:attribute:: EXCELLENT (4): Excellent signal quality
.. py:attribute:: NONE (5): No signal
.. _BaseConfigurationNotificationEvent:
.. py:class:: ConfigurationNotificationEvent
Admissible configuration events This enum will be removed in a future release. It has been moved to Common proto.
:canonical: kortex_api.autogen.messages.Base_pb2.ConfigurationNotificationEvent
.. py:attribute:: UNSPECIFIED_CONFIGURATION_EVENT (0): Unspecified configuration event
.. py:attribute:: CONFIGURATION_UPDATED (1): Configuration deleted
.. py:attribute:: CONFIGURATION_DELETED (2): Configuration updated
.. py:attribute:: CONFIGURATION_DELETED_ALL (3): All configurations deleted
.. py:attribute:: CONFIGURATION_CREATED (4): Configuration created
.. _BaseOperatingMode:
.. py:class:: OperatingMode
Admissible robot operating modes (used to report robot firmware upgrade current state) This enum will be removed in a future release. It has been renamed UpdatingMode.
:canonical: kortex_api.autogen.messages.Base_pb2.OperatingMode
.. py:attribute:: UNSPECIFIED_OPERATING_MODE (0): Unspecified operating mode
.. py:attribute:: MAINTENANCE_MODE (1): Robot in maintenance mode
.. py:attribute:: UPDATE_MODE (2): Robot waiting for upgrade package
.. py:attribute:: UPDATE_COMPLETED_MODE (3): Robot update successfully completed
.. py:attribute:: UPDATE_FAILED_MODE (4): Robot update failed
.. py:attribute:: SHUTTING_DOWN_MODE (5): Robot about to shutdown
.. py:attribute:: RUN_MODE (6): Robot properly running (or normal operation mode)
.. py:attribute:: UPDATING_DEVICE_MODE (7): Robot updating device
.. _BaseUpdatingMode:
.. py:class:: UpdatingMode
Admissible robot updating modes (used to report robot firmware upgrade current state)
:canonical: kortex_api.autogen.messages.Base_pb2.UpdatingMode
.. py:attribute:: UPDATE_MODE_UNSPECIFIED (0): Unspecified updating mode
.. py:attribute:: UPDATE_MODE_MAINTENANCE (1): Robot in maintenance mode
.. py:attribute:: UPDATE_MODE_UPDATE (2): Robot waiting for upgrade package
.. py:attribute:: UPDATE_MODE_UPDATE_COMPLETED (3): Robot update successfully completed
.. py:attribute:: UPDATE_MODE_UPDATE_FAILED (4): Robot update failed
.. py:attribute:: UPDATE_MODE_SHUTTING_DOWN (5): Robot about to shutdown
.. py:attribute:: UPDATE_MODE_IDLE (6): Robot properly running (or normal operation mode)
.. py:attribute:: UPDATE_MODE_UPDATING_DEVICE (7): Robot updating device
.. _BaseServoingMode:
.. py:class:: ServoingMode
Admissible servoing modes
:canonical: kortex_api.autogen.messages.Base_pb2.ServoingMode
.. py:attribute:: UNSPECIFIED_SERVOING_MODE (0): Unspecified servoing mode
.. py:attribute:: SINGLE_LEVEL_SERVOING (2): Single-level servoing
.. py:attribute:: LOW_LEVEL_SERVOING (3): Low-level servoing
.. py:attribute:: BYPASS_SERVOING (4): Bypass mode
.. _BaseUserEvent:
.. py:class:: UserEvent
Admissible user event types
:canonical: kortex_api.autogen.messages.Base_pb2.UserEvent
.. py:attribute:: UNSPECIFIED_USER_EVENT (0): Unspecified user event
.. py:attribute:: LOGGED_OUT (1): User logged out
.. py:attribute:: LOGGED_IN (2): User logged in
.. _BaseControllerType:
.. py:class:: ControllerType
Admissible controller types
:canonical: kortex_api.autogen.messages.Base_pb2.ControllerType
.. py:attribute:: UNSPECIFIED_CONTROLLER_TYPE (0): Unspecified controller device type
.. py:attribute:: XBOX_CONTROLLER (1): Xbox gamepad
.. py:attribute:: BASIC_JOYSTICK_CONTROLLER (3): Simplified joystick connected to Kinova robot base
.. py:attribute:: BASE_GPIO_CONTROLLER (4): GPIO Controller
.. py:attribute:: LINK_WRIST_CONTROLLER (6): Link wrist buttons
.. _BaseControllerEventType:
.. py:class:: ControllerEventType
Admissible controller event types
:canonical: kortex_api.autogen.messages.Base_pb2.ControllerEventType
.. py:attribute:: UNSPECIFIED_CONTROLLER_EVENT (0): Unspecified controller event
.. py:attribute:: CONTROLLER_DISCONNECTED (1): Controller is disconnected
.. py:attribute:: CONTROLLER_CONNECTED (2): Controller is connected
.. _BaseControllerElementEventType:
.. py:class:: ControllerElementEventType
Admissible controller element event types
:canonical: kortex_api.autogen.messages.Base_pb2.ControllerElementEventType
.. py:attribute:: UNSPECIFIED_CONTROLLER_ELEMENT_EVENT (0): Unspecified controller element event
.. py:attribute:: AXIS_MOVED (1): Controller axis moved
.. py:attribute:: BUTTON_DOWN (2): Controller button pressed
.. py:attribute:: BUTTON_UP (3): Controller button released
.. py:attribute:: BUTTON_CLICK (4): Controller button clicked
.. _BaseActionEvent:
.. py:class:: ActionEvent
Admissible action event types
:canonical: kortex_api.autogen.messages.Base_pb2.ActionEvent
.. py:attribute:: UNSPECIFIED_ACTION_EVENT (0): Unspecified action event
.. py:attribute:: ACTION_END (1): Action execution end reached
.. py:attribute:: ACTION_ABORT (2): Action execution aborted
.. py:attribute:: ACTION_PAUSE (3): Action execution paused
.. py:attribute:: ACTION_START (4): Action execution started
.. py:attribute:: ACTION_PREPROCESS_START (5): Action pre-process started
.. py:attribute:: ACTION_PREPROCESS_ABORT (6): Action pre-process aborted
.. py:attribute:: ACTION_PREPROCESS_END (7): Action pre-process ended
.. py:attribute:: ACTION_POSTPROCESS_START (8): Action post-process started
.. py:attribute:: ACTION_POSTPROCESS_ABORT (9): Action post-process aborted
.. py:attribute:: ACTION_POSTPROCESS_END (10): Action post-process ended
.. py:attribute:: ACTION_FEEDBACK (11): Action feedback received
.. _BaseRobotEvent:
.. py:class:: RobotEvent
Admissible robot events
:canonical: kortex_api.autogen.messages.Base_pb2.RobotEvent
.. py:attribute:: UNSPECIFIED_ROBOT_EVENT (0): Unspecified robot event
.. py:attribute:: ARM_CONNECTED (1): Robot arm is connected
.. py:attribute:: ARM_DISCONNECTED (2): Robot arm is disconnected
.. py:attribute:: USB_STORAGE_CONNECTED (8): USB storage has been connected
.. py:attribute:: USB_STORAGE_DISCONNECTED (9): USB storage has been disconnected
.. _BaseFactoryEvent:
.. py:class:: FactoryEvent
Admissible factory events
:canonical: kortex_api.autogen.messages.Base_pb2.FactoryEvent
.. py:attribute:: UNSPECIFIED_FACTORY_EVENT (0): Unspecified factory event
.. py:attribute:: FACTORY_DEFAULT_RESTORED (1): Factory defaults restored on robot
.. _BaseNetworkEvent:
.. py:class:: NetworkEvent
Admissible network events This message may be removed in a future release. It has been moved to Network service.
:canonical: kortex_api.autogen.messages.Base_pb2.NetworkEvent
.. py:attribute:: UNSPECIFIED_NETWORK_EVENT (0): Unspecified network event
.. py:attribute:: WIFI_CONNECTED (1): Wi-Fi connected
.. py:attribute:: WIFI_DISCONNECTED (2): Wi-Fi Disconnected
.. py:attribute:: WIFI_SCAN_STARTED (3): Wi-Fi scan was initiated
.. py:attribute:: WIFI_SCAN_RESULTS (4): Wi-Fi scan results are available
.. py:attribute:: WIFI_SCAN_FAILED (5): Wi-Fi scan failed
.. py:attribute:: WIFI_NOT_FOUND (6): Wi-Fi selected network not found
.. py:attribute:: WIFI_ASSOC_REJECTED (7): Wi-Fi AP rejected association
.. py:attribute:: WIFI_AUTH_WRONG_KEY (8): Wi-Fi wrong PSK supplied
.. py:attribute:: WIFI_AUTH_CONN_FAILED (9): Wi-Fi connection failure during auth
.. py:attribute:: WIFI_AUTH_FAILED (10): Wi-Fi authentication failure
.. _BaseControllerInputType:
.. py:class:: ControllerInputType
Admissible controller input types
:canonical: kortex_api.autogen.messages.Base_pb2.ControllerInputType
.. py:attribute:: UNSPECIFIED_CONTROLLER_INPUT_TYPE (0): Unspecified controller input type
.. py:attribute:: ANALOG (1): Analog controller input type
.. py:attribute:: DIGITAL (2): Digital controller input type
.. _BaseControllerBehavior:
.. py:class:: ControllerBehavior
Admissible controller input behaviors
:canonical: kortex_api.autogen.messages.Base_pb2.ControllerBehavior
.. py:attribute:: UNSPECIFIED_CONTROLLER_BEHAVIOR (0): Unspecified controller behavior
.. py:attribute:: CONTROLLER_BUTTON_DOWN (1): Pushing button down
.. py:attribute:: CONTROLLER_BUTTON_UP (2): Releasing button
.. py:attribute:: CONTROLLER_AXIS_POSITIVE (3): Positive axis movement
.. py:attribute:: CONTROLLER_AXIS_NEGATIVE (4): Negative axis movement
.. py:attribute:: CONTROLLER_BUTTON_CLICK (5): Button down and up within X msec
.. _BaseBaseDiagnosticIdentifierBankA:
.. py:class:: BaseDiagnosticIdentifierBankA
Admissible Base bank A diagnostics. Used with BaseCyclic.BaseFeedback.fault_bank_a
:canonical: kortex_api.autogen.messages.Base_pb2.BaseDiagnosticIdentifierBankA
.. py:attribute:: BASE_BANK_A_UNSPECIFIED_DIAGNOSTIC_IDENTIFIER (0): 0x0 - Unspecified base diagnostic
.. py:attribute:: BASE_BANK_A_FIRMWARE_UPDATE_FAILURE (1): 0x1 - Firmware update failure
.. py:attribute:: BASE_BANK_A_EXTERNAL_COMMUNICATION_ERROR (2): 0x2 - External communication error
.. py:attribute:: BASE_BANK_A_JOINT_FAULT (16): 0x10 - Joint fault
.. py:attribute:: BASE_BANK_A_NO_KINEMATICS_SUPPORT (32): 0x20 - No kinematics support
.. py:attribute:: BASE_BANK_A_NETWORK_ERROR (64): 0x40 - Network error
.. py:attribute:: BASE_BANK_A_JOINT_DETECTION_ERROR (128): 0x80 - Joint detection error
.. py:attribute:: BASE_BANK_A_NETWORK_INITIALIZATION_ERROR (256): 0x100 - Network initialization error
.. py:attribute:: BASE_BANK_A_EMERGENCY_STOP_ACTIVATED (4096): 0x1000 - Emergency stop activated
.. py:attribute:: BASE_BANK_A_NVRAM_CORRUPTED (32768): 0x8000 - NVRAM corrupted
.. py:attribute:: BASE_BANK_A_INCOMPATIBLE_FIRMWARE_VERSION (65536): 0x10000 - Incompatible firmware version
.. py:attribute:: BASE_BANK_A_POWERON_SELF_TEST_FAILURE (131072): 0x20000 - Power on self test failure
.. py:attribute:: BASE_BANK_A_STOP_TRIGGERED (1048576): 0x100000 - Stop triggered
.. py:attribute:: BASE_BANK_A_PROTECTION_ZONE_COLLISION_DETECTED (2097152): 0x200000 - Protection zone collision detected
.. py:attribute:: BASE_BANK_A_SELF_COLLISION_DETECTED (4194304): 0x400000 - Self-collision detected
.. py:attribute:: BASE_BANK_A_COLLISION_DETECTED (8388608): 0x800000 - Collision detected
.. py:attribute:: BASE_BANK_A_SAFETY_PARAMETERS_CHECKSUM_MISMATCH (16777216): 0x1000000 - Safety parameters checksum mismatch
.. py:attribute:: BASE_BANK_A_HARD_STOP_FAILURE (33554432): 0x2000000 - Hard Stop command failed
.. py:attribute:: BASE_BANK_A_SINGULARITY_ERROR_DETECTED (67108864): 0x4000000 - Singularity error detected
.. py:attribute:: BASE_BANK_A_JOINT_LIMIT_POSITION (134217728): 0x8000000 - Joint Limit Position
.. py:attribute:: BASE_BANK_A_JOINT_TRACKING_ERROR (268435456): 0x10000000 - Joint Tracking Error
.. py:attribute:: BASE_BANK_A_CALIB_SERIAL_NUMBER_INVALID (536870912): 0x20000000 - Calibration serial number invalid
.. py:attribute:: BASE_BANK_A_ACTUATOR_MODEL_INVALID (1073741824): 0x40000000 - Actuator Model invalid
.. _BaseBaseDiagnosticIdentifierBankB:
.. py:class:: BaseDiagnosticIdentifierBankB
Admissible Base bank B diagnostics. Used with BaseCyclic.BaseFeedback.fault_bank_b
:canonical: kortex_api.autogen.messages.Base_pb2.BaseDiagnosticIdentifierBankB
.. py:attribute:: BASE_BANK_B_UNSPECIFIED_DIAGNOSTIC_IDENTIFIER (0): 0x0 - Unspecified base diagnostic
.. py:attribute:: BASE_BANK_B_JOINT_1_MOTOR_TEMPERATURE_TOO_HIGH (1): 0x1 - Joint 1 motor temperature too high
.. py:attribute:: BASE_BANK_B_JOINT_2_MOTOR_TEMPERATURE_TOO_HIGH (2): 0x2 - Joint 2 motor temperature too high
.. py:attribute:: BASE_BANK_B_JOINT_3_MOTOR_TEMPERATURE_TOO_HIGH (4): 0x4 - Joint 3 motor temperature too high
.. py:attribute:: BASE_BANK_B_JOINT_4_MOTOR_TEMPERATURE_TOO_HIGH (8): 0x8 - Joint 4 motor temperature too high
.. py:attribute:: BASE_BANK_B_JOINT_5_MOTOR_TEMPERATURE_TOO_HIGH (16): 0x10 - Joint 5 motor temperature too high
.. py:attribute:: BASE_BANK_B_JOINT_6_MOTOR_TEMPERATURE_TOO_HIGH (32): 0x20 - Joint 6 motor temperature too high
.. py:attribute:: BASE_BANK_B_JOINT_7_MOTOR_TEMPERATURE_TOO_HIGH (64): 0x40 - Joint 7 motor temperature too high
.. py:attribute:: BASE_BANK_B_JOINT_1_CORE_TEMPERATURE_TOO_HIGH (128): 0x80 - Joint 1 core temperature too high
.. py:attribute:: BASE_BANK_B_JOINT_2_CORE_TEMPERATURE_TOO_HIGH (256): 0x100 - Joint 2 core temperature too high
.. py:attribute:: BASE_BANK_B_JOINT_3_CORE_TEMPERATURE_TOO_HIGH (512): 0x200 - Joint 3 core temperature too high
.. py:attribute:: BASE_BANK_B_JOINT_4_CORE_TEMPERATURE_TOO_HIGH (1024): 0x400 - Joint 4 core temperature too high
.. py:attribute:: BASE_BANK_B_JOINT_5_CORE_TEMPERATURE_TOO_HIGH (2048): 0x800 - Joint 5 core temperature too high
.. py:attribute:: BASE_BANK_B_JOINT_6_CORE_TEMPERATURE_TOO_HIGH (4096): 0x1000 - Joint 6 core temperature too high
.. py:attribute:: BASE_BANK_B_JOINT_7_CORE_TEMPERATURE_TOO_HIGH (8192): 0x2000 - Joint 7 core temperature too high
.. _BaseLinkStateIdentifierBank:
.. py:class:: LinkStateIdentifierBank
Admissible State Bank Used with BaseCyclic.BaseFeedback.state_bank
:canonical: kortex_api.autogen.messages.Base_pb2.LinkStateIdentifierBank
.. py:attribute:: LINK_STATE_BANK_UNSPECIFIED_IDENTIFIER (0): 0x0 - Unspecified Link state bank identifier
.. py:attribute:: LINK_STATE_BANK_COLLISION_DETECTED (1): 0x1 - Collision detected
.. _BaseLinkSCUDiagnosticIdentifierBankA:
.. py:class:: LinkSCUDiagnosticIdentifierBankA
Admissible Link SCU bank A diagnostics. Used with BaseCyclic.BaseFeedback.scu_fault_bank_a
:canonical: kortex_api.autogen.messages.Base_pb2.LinkSCUDiagnosticIdentifierBankA
.. py:attribute:: LINK_SCU_BANK_A_UNSPECIFIED_DIAGNOSTIC_IDENTIFIER (0): 0x0 - Unspecified Link SCU diagnostic bank A identifier
.. py:attribute:: LINK_SCU_BANK_A_STARTUP_SELF_TESTS_TIMED_OUT (1): 0x1 - startup self-tests timed out
.. py:attribute:: LINK_SCU_BANK_A_SCU_MCU_BIST_MODULE_FAILURE (2): 0x2 - SCU MCU BIST module failure
.. py:attribute:: LINK_SCU_BANK_A_SCU_MCU_MEMORY_BIST_FAULT (4): 0x4 - SCU MCU memory BIST fault
.. py:attribute:: LINK_SCU_BANK_A_SCU_MCU_LOGIC_BIST_FAULT (8): 0x8 - SCU MCU logic BIST fault
.. py:attribute:: LINK_SCU_BANK_A_SCU_MCU_STARTUP_BIST_TIMEOUT (16): 0x10 - SCU MCU startup BIST timeout
.. py:attribute:: LINK_SCU_BANK_A_SCU_MCU_CORE_TEMPERATURE_TOO_HIGH (64): 0x40 - SCU MCU core temperature too high
.. py:attribute:: LINK_SCU_BANK_A_SCU_MCU_CORE_TEMPERATURE_TOO_LOW (128): 0x80 - SCU MCU core temperature too low
.. py:attribute:: LINK_SCU_BANK_A_SCU_BOARD_TEMPERATURE_TOO_HIGH (256): 0x100 - SCU board temperature too high
.. py:attribute:: LINK_SCU_BANK_A_SCU_BOARD_TEMPERATURE_TOO_LOW (512): 0x200 - SCU board temperature too low
.. py:attribute:: LINK_SCU_BANK_A_RESERVED_1024 (1024): 0x400 - reserved
.. py:attribute:: LINK_SCU_BANK_A_RESERVED_2048 (2048): 0x800 - reserved
.. py:attribute:: LINK_SCU_BANK_A_SBC_SPI_CONFIGURATION_FAILED (4096): 0x1000 - SBC SPI configuration failed
.. py:attribute:: LINK_SCU_BANK_A_SBC_FAULT_DETECTED (8192): 0x2000 - SBC fault detected
.. py:attribute:: LINK_SCU_BANK_A_SBC_DEBUG_MODE_ACTIVE (16384): 0x4000 - SBC debug mode active
.. py:attribute:: LINK_SCU_BANK_A_CLAMP_VIN_OVERVOLTAGE (32768): 0x8000 - clamp Vin overvoltage
.. py:attribute:: LINK_SCU_BANK_A_CLAMP_VIN_UNDERVOLTAGE (65536): 0x10000 - clamp Vin_undervoltage
.. py:attribute:: LINK_SCU_BANK_A_CLAMP_VOUT_OVERVOLTAGE (131072): 0x20000 - clamp Vout overvoltage
.. py:attribute:: LINK_SCU_BANK_A_CLAMP_VOUT_UNDERVOLTAGE (262144): 0x40000 - clamp Vout undervoltage
.. py:attribute:: LINK_SCU_BANK_A_CLAMP_TEMPERATURE_TOO_HIGH (524288): 0x80000 - clamp temperature too high
.. py:attribute:: LINK_SCU_BANK_A_ARM_OVERCURRENT (1048576): 0x100000 - arm overcurrent
.. py:attribute:: LINK_SCU_BANK_A_EMERGENCY_STOP_BUTTON_SIGNALS_DISAGREEMENT (2097152): 0x200000 - emergency stop button signals disagreement
.. py:attribute:: LINK_SCU_BANK_A_SAFETY_INPUT_0_SIGNALS_DISAGREEMENT (4194304): 0x400000 - safety input 0 signals disagreement
.. py:attribute:: LINK_SCU_BANK_A_SAFETY_INPUT_1_SIGNALS_DISAGREEMENT (8388608): 0x800000 - safety input 1 signals disagreement
.. py:attribute:: LINK_SCU_BANK_A_SAFETY_INPUT_2_SIGNALS_DISAGREEMENT (16777216): 0x1000000 - safety input 2 signals disagreement
.. py:attribute:: LINK_SCU_BANK_A_SAFETY_INPUT_3_SIGNALS_DISAGREEMENT (33554432): 0x2000000 - safety input 3 signals disagreement
.. py:attribute:: LINK_SCU_BANK_A_SAFETY_INPUT_4_SIGNALS_DISAGREEMENT (67108864): 0x4000000 - safety input 4 signals disagreement
.. py:attribute:: LINK_SCU_BANK_A_SAFETY_INPUT_5_SIGNALS_DISAGREEMENT (134217728): 0x8000000 - safety input 5 signals disagreement
.. py:attribute:: LINK_SCU_BANK_A_SAFETY_INPUT_6_SIGNALS_DISAGREEMENT (268435456): 0x10000000 - safety input 6 signals disagreement
.. py:attribute:: LINK_SCU_BANK_A_SAFETY_INPUT_7_SIGNALS_DISAGREEMENT (536870912): 0x20000000 - safety input 7 signals disagreement
.. py:attribute:: LINK_SCU_BANK_A_TP_EMERGENCY_STOP_SIGNALS_DISAGREEMENT (1073741824): 0x40000000 - teach pendant emergency stop button signals disagreement
.. py:attribute:: LINK_SCU_BANK_A_TP_ENABLING_DEVICE_SIGNALS_DISAGREEMENT (-2147483648): 0x80000000 - teach pendant enabling device signals disagreement
.. _BaseLinkSCUDiagnosticIdentifierBankB:
.. py:class:: LinkSCUDiagnosticIdentifierBankB
Admissible Link SCU bank B diagnostics. Used with BaseCyclic.BaseFeedback.scu_fault_bank_b
:canonical: kortex_api.autogen.messages.Base_pb2.LinkSCUDiagnosticIdentifierBankB
.. py:attribute:: LINK_SCU_BANK_B_UNSPECIFIED_DIAGNOSTIC_IDENTIFIER (0): 0x0 - Unspecified Link SCU diagnostic bank B identifier
.. py:attribute:: LINK_SCU_BANK_B_SAFE_COMM_FAILURE_MPU (1): 0x1 - safe comm failure MPU
.. py:attribute:: LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_1_MAIN_MCU (2): 0x2 - safe comm failure joint 1 main MCU
.. py:attribute:: LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_1_SAFETY_MCU (4): 0x4 - safe comm failure joint 1 safety MCU
.. py:attribute:: LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_2_MAIN_MCU (8): 0x8 - safe comm failure joint 2 main MCU
.. py:attribute:: LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_2_SAFETY_MCU (16): 0x10 - safe comm failure joint 2 safety MCU
.. py:attribute:: LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_3_MAIN_MCU (32): 0x20 - safe comm failure joint 3 main MCU
.. py:attribute:: LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_3_SAFETY_MCU (64): 0x40 - safe comm failure joint 3 safety MCU
.. py:attribute:: LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_4_MAIN_MCU (128): 0x80 - safe comm failure joint 4 main MCU
.. py:attribute:: LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_4_SAFETY_MCU (256): 0x100 - safe comm failure joint 4 safety MCU
.. py:attribute:: LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_5_MAIN_MCU (512): 0x200 - safe comm failure joint 5 main MCU
.. py:attribute:: LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_5_SAFETY_MCU (1024): 0x400 - safe comm failure joint 5 safety MCU
.. py:attribute:: LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_6_MAIN_MCU (2048): 0x800 - safe comm failure joint 6 main MCU
.. py:attribute:: LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_6_SAFETY_MCU (4096): 0x1000 - safe comm failure joint 6 safety MCU
.. py:attribute:: LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_7_MAIN_MCU (8192): 0x2000 - safe comm failure joint 7 main MCU
.. py:attribute:: LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_7_SAFETY_MCU (16384): 0x4000 - safe comm failure joint 7 safety MCU
.. py:attribute:: LINK_SCU_BANK_B_SAFE_COMM_FAILURE_WRIST_MAIN_MCU (32768): 0x8000 - safe comm failure wrist main MCU
.. py:attribute:: LINK_SCU_BANK_B_SAFE_COMM_FAILURE_WRIST_SAFETY_MCU (65536): 0x10000 - safe comm failure wrist safety MCU
.. py:attribute:: LINK_SCU_BANK_B_SAFE_DI_BANK_A_CONFIGURATION_FAILED (131072): 0x20000 - safe DI bank A configuration failed
.. py:attribute:: LINK_SCU_BANK_B_SAFE_DI_BANK_A_SPI_COMMUNICATION_FAILURE (262144): 0x40000 - safe DI bank A SPI communication failure
.. py:attribute:: LINK_SCU_BANK_B_SAFE_DI_BANK_A_FAULT_DETECTED (524288): 0x80000 - safe DI bank A fault detected
.. py:attribute:: LINK_SCU_BANK_B_SAFE_DI_RESERVED_0 (1048576): 0x100000 - safe DI bank A reserved 0
.. py:attribute:: LINK_SCU_BANK_B_SAFE_DI_RESERVED_1 (2097152): 0x200000 - safe DI bank A reserved 1
.. py:attribute:: LINK_SCU_BANK_B_SAFE_DI_RESERVED_2 (4194304): 0x400000 - safe DI bank A reserved 2
.. py:attribute:: LINK_SCU_BANK_B_SAFE_DI_RESERVED_3 (8388608): 0x800000 - safe DI bank A reserved 3
.. py:attribute:: LINK_SCU_BANK_B_SAFE_DI_RESERVED_4 (16777216): 0x1000000 - safe DI bank A reserved 4
.. py:attribute:: LINK_SCU_BANK_B_SAFE_DI_RESERVED_5 (33554432): 0x2000000 - safe DI bank A reserved 5
.. py:attribute:: LINK_SCU_BANK_B_SAFE_DI_RESERVED_6 (67108864): 0x4000000 - safe DI bank A reserved 6
.. py:attribute:: LINK_SCU_BANK_B_SAFE_DI_RESERVED_7 (134217728): 0x8000000 - safe DI bank A reserved 7
.. _BaseLinkSCUDiagnosticIdentifierBankC:
.. py:class:: LinkSCUDiagnosticIdentifierBankC
Admissible Link SCU bank C diagnostics. Used with BaseCyclic.BaseFeedback.scu_fault_bank_c
:canonical: kortex_api.autogen.messages.Base_pb2.LinkSCUDiagnosticIdentifierBankC
.. py:attribute:: LINK_SCU_BANK_C_UNSPECIFIED_DIAGNOSTIC_IDENTIFIER (0): 0x0 - Unspecified Link SCU diagnostic bank C identifier
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DI_BANK_B_CONFIGURATION_FAILED (1): 0x1 - safe DI bank B configuration failed
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DI_BANK_B_SPI_COMMUNICATION_FAILURE (2): 0x2 - safe DI bank B SPI communication failure
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DI_BANK_B_FAULT_DETECTED (4): 0x4 - safe DI bank B fault detected
.. py:attribute:: LINK_SCU_BANK_C_ENABLING_DEVICE_OPERATING_MODE_VIOLATION (8): 0x8 - Enabling devices vs. arm operating mode violation detected
.. py:attribute:: LINK_SCU_BANK_C_WRIST_ENABLING_DEVICE_OPERATING_MODE_VIOLATION (16): 0x10 - Wrist enabling device vs. arm operating mode violation detected
.. py:attribute:: LINK_SCU_BANK_C_TCP_POSITION_DISAGREEMENT (32): 0x20 - tcp position disagreement
.. py:attribute:: LINK_SCU_BANK_C_TCP_ORIENTATION_DISAGREEMENT (64): 0x40 - tcp orientation disagreement
.. py:attribute:: LINK_SCU_BANK_C_TCP_TRANSLATION_SPEED_DISAGREEMENT (128): 0x80 - tcp translation speed disagreement
.. py:attribute:: LINK_SCU_BANK_C_TCP_ROTATION_SPEED_DISAGREEMENT (256): 0x100 - tcp rotation speed disagreement
.. py:attribute:: LINK_SCU_BANK_C_TCP_MONITORING_RESERVED_0 (512): 0x200 - tcp monitoring reserved 0
.. py:attribute:: LINK_SCU_BANK_C_TCP_MONITORING_RESERVED_1 (1024): 0x400 - tcp monitoring reserved 1
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DO_BANK_A_CONFIGURATION_FAILED (2048): 0x800 - safe DO bank A configuration failed
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DO_BANK_A_SPI_COMMUNICATION_FAILURE (4096): 0x1000 - safe DO bank A SPI communication failure
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DO_BANK_A_UNDERVOLTAGE_LOCKOUT (8192): 0x2000 - safe DO bank A undervoltage lockout
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DO_BANK_A_CHA_0_FAULT_DETECTED (16384): 0x4000 - safe DO bank A channel 0 fault detected
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DO_BANK_A_CHA_1_FAULT_DETECTED (32768): 0x8000 - safe DO bank A channel 1 fault detected
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DO_BANK_A_CHA_2_FAULT_DETECTED (65536): 0x10000 - safe DO bank A channel 2 fault detected
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DO_BANK_A_CHA_3_FAULT_DETECTED (131072): 0x20000 - safe DO bank A channel 3 fault detected
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DO_BANK_A_CHA_4_FAULT_DETECTED (262144): 0x40000 - safe DO bank A channel 4 fault detected
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DO_BANK_A_CHA_5_FAULT_DETECTED (524288): 0x80000 - safe DO bank A channel 5 fault detected
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DO_BANK_A_CHA_6_FAULT_DETECTED (1048576): 0x100000 - safe DO bank A channel 6 fault detected
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DO_BANK_A_CHA_7_FAULT_DETECTED (2097152): 0x200000 - safe DO bank A channel 7 fault detected
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DO_BANK_B_CONFIGURATION_FAILED (4194304): 0x400000 - safe DO bank B configuration failed
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DO_BANK_B_SPI_COMMUNICATION_FAILURE (8388608): 0x800000 - safe DO bank B SPI communication failure
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DO_BANK_B_UNDERVOLTAGE_LOCKOUT (16777216): 0x1000000 - safe DO bank B undervoltage lockout
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DO_BANK_B_CHA_0_FAULT_DETECTED (33554432): 0x2000000 - safe DO bank B channel 0 fault detected
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DO_BANK_B_CHA_1_FAULT_DETECTED (67108864): 0x4000000 - safe DO bank B channel 1 fault detected
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DO_BANK_B_CHA_2_FAULT_DETECTED (134217728): 0x8000000 - safe DO bank B channel 2 fault detected
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DO_BANK_B_CHA_3_FAULT_DETECTED (268435456): 0x10000000 - safe DO bank B channel 3 fault detected
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DO_BANK_B_CHA_4_FAULT_DETECTED (536870912): 0x20000000 - safe DO bank B channel 4 fault detected
.. py:attribute:: LINK_SCU_BANK_C_SAFE_DO_BANK_B_CHA_5_FAULT_DETECTED (1073741824): 0x40000000 - safe DO bank B channel 5 fault detected
.. _BaseLinkSCUDiagnosticIdentifierBankD:
.. py:class:: LinkSCUDiagnosticIdentifierBankD
Admissible Link SCU bank D diagnostics. Used with BaseCyclic.BaseFeedback.scu_fault_bank_d
:canonical: kortex_api.autogen.messages.Base_pb2.LinkSCUDiagnosticIdentifierBankD
.. py:attribute:: LINK_SCU_BANK_D_UNSPECIFIED_DIAGNOSTIC_IDENTIFIER (0): 0x0 - Unspecified Link SCU diagnostic bank D identifier
.. py:attribute:: LINK_SCU_BANK_D_SAFE_DO_BANK_B_CHA_6_FAULT_DETECTED (1): 0x1 - safe DO bank B channel 6 fault detected
.. py:attribute:: LINK_SCU_BANK_D_SAFE_DO_BANK_B_CHA_7_FAULT_DETECTED (2): 0x2 - safe DO bank B channel 7 fault detected
.. py:attribute:: LINK_SCU_BANK_D_FCCU_RESET_OCCURRED (4): 0x4 - FCCU reset occurred
.. py:attribute:: LINK_SCU_BANK_D_SOFTWARE_WATCHDOG_TIMER_RESET_OCCURRED (8): 0x8 - software watchdog timer reset occurred
.. py:attribute:: LINK_SCU_BANK_D_SBC_WATCHDOG_RESET_OCCURRED (16): 0x10 - SBC watchdog reset occurred
.. py:attribute:: LINK_SCU_BANK_D_JOINT_FAULT_DETECTED (32): 0x20 - joint fault detected
.. py:attribute:: LINK_SCU_BANK_D_JOINT_1_POSITION_DISAGREEMENT (64): 0x40 - joint 1 position disagreement
.. py:attribute:: LINK_SCU_BANK_D_JOINT_2_POSITION_DISAGREEMENT (128): 0x80 - joint 2 position disagreement
.. py:attribute:: LINK_SCU_BANK_D_JOINT_3_POSITION_DISAGREEMENT (256): 0x100 - joint 3 position disagreement
.. py:attribute:: LINK_SCU_BANK_D_JOINT_4_POSITION_DISAGREEMENT (512): 0x200 - joint 4 position disagreement
.. py:attribute:: LINK_SCU_BANK_D_JOINT_5_POSITION_DISAGREEMENT (1024): 0x400 - joint 5 position disagreement
.. py:attribute:: LINK_SCU_BANK_D_JOINT_6_POSITION_DISAGREEMENT (2048): 0x800 - joint 6 position disagreement
.. py:attribute:: LINK_SCU_BANK_D_JOINT_7_POSITION_DISAGREEMENT (4096): 0x1000 - joint 7 position disagreement
.. py:attribute:: LINK_SCU_BANK_D_JOINT_1_SPEED_DISAGREEMENT (8192): 0x2000 - joint 1 speed disagreement
.. py:attribute:: LINK_SCU_BANK_D_JOINT_2_SPEED_DISAGREEMENT (16384): 0x4000 - joint 2 speed disagreement
.. py:attribute:: LINK_SCU_BANK_D_JOINT_3_SPEED_DISAGREEMENT (32768): 0x8000 - joint 3 speed disagreement
.. py:attribute:: LINK_SCU_BANK_D_JOINT_4_SPEED_DISAGREEMENT (65536): 0x10000 - joint 4 speed disagreement
.. py:attribute:: LINK_SCU_BANK_D_JOINT_5_SPEED_DISAGREEMENT (131072): 0x20000 - joint 5 speed disagreement
.. py:attribute:: LINK_SCU_BANK_D_JOINT_6_SPEED_DISAGREEMENT (262144): 0x40000 - joint 6 speed disagreement
.. py:attribute:: LINK_SCU_BANK_D_JOINT_7_SPEED_DISAGREEMENT (524288): 0x80000 - joint 7 speed disagreement
.. py:attribute:: LINK_SCU_BANK_D_JOINT_1_TORQUE_DISAGREEMENT (1048576): 0x100000 - joint 1 torque disagreement
.. py:attribute:: LINK_SCU_BANK_D_JOINT_2_TORQUE_DISAGREEMENT (2097152): 0x200000 - joint 2 torque disagreement
.. py:attribute:: LINK_SCU_BANK_D_JOINT_3_TORQUE_DISAGREEMENT (4194304): 0x400000 - joint 3 torque disagreement
.. py:attribute:: LINK_SCU_BANK_D_JOINT_4_TORQUE_DISAGREEMENT (8388608): 0x800000 - joint 4 torque disagreement
.. py:attribute:: LINK_SCU_BANK_D_JOINT_5_TORQUE_DISAGREEMENT (16777216): 0x1000000 - joint 5 torque disagreement
.. py:attribute:: LINK_SCU_BANK_D_JOINT_6_TORQUE_DISAGREEMENT (33554432): 0x2000000 - joint 6 torque disagreement
.. py:attribute:: LINK_SCU_BANK_D_JOINT_7_TORQUE_DISAGREEMENT (67108864): 0x4000000 - joint 7 torque disagreement
.. py:attribute:: LINK_SCU_BANK_D_ARM_POWER_RELAY_A_STUCK (134217728): 0x8000000 - power relay A is stuck
.. py:attribute:: LINK_SCU_BANK_D_ARM_POWER_RELAY_B_STUCK (268435456): 0x10000000 - power relay B is stuck
.. py:attribute:: LINK_SCU_BANK_D_ARM_INRUSH_CURRENT_LIMITER_MOSFET_STUCK (536870912): 0x20000000 - inrush current limiter mosfet circuit is stuck
.. py:attribute:: LINK_SCU_BANK_D_EMERGENCY_STOP_DELAY_CIRCUIT_A_MALFUNCTION (1073741824): 0x40000000 - malfunction detected in Emergency Stop Delay Circuit A
.. py:attribute:: LINK_SCU_BANK_D_EMERGENCY_STOP_DELAY_CIRCUIT_B_MALFUNCTION (-2147483648): 0x80000000 - malfunction detected in Emergency Stop Delay Circuit B
.. _BaseWrenchMode:
.. py:class:: WrenchMode
Admissible wrench (force) modes
:canonical: kortex_api.autogen.messages.Base_pb2.WrenchMode
.. py:attribute:: UNSPECIFIED_WRENCH_MODE (0): Unspecified wrench mode
.. py:attribute:: WRENCH_RESTRICTED (1): Wrench restricted mode (tool motion is authorized only in the direction of the wrench command)
.. py:attribute:: WRENCH_NORMAL (2): Wrench normal mode (tool motion is authorized in any direction)
.. _BaseHandGuidingMode:
.. py:class:: HandGuidingMode
Admissible Hand-Guiding modes
:canonical: kortex_api.autogen.messages.Base_pb2.HandGuidingMode
.. py:attribute:: UNSPECIFIED_HAND_GUIDING_MODE (0): Unspecified Hand-Guiding mode
.. py:attribute:: CARTESIAN (1): Cartesian Hand-Guiding mode
.. py:attribute:: JOINT (2): Joint Hand-Guiding mode
.. py:attribute:: NULL_SPACE (3): Null space Hand-Guiding mode
.. py:attribute:: DISABLED (4): No Hand-Guiding
.. _BaseNavigationDirection:
.. py:class:: NavigationDirection
Admissible map navigation directions
:canonical: kortex_api.autogen.messages.Base_pb2.NavigationDirection
.. py:attribute:: UNSPECIFIED_NAVIGATION_DIRECTION (0): Unspecified navigation direction
.. py:attribute:: NEXT (1): Go to next map
.. py:attribute:: UP (2): Go to parent map group (not implemented yet)
.. py:attribute:: DOWN (3): Go to children map group (not implemented yet)
.. py:attribute:: PREVIOUS (4): Go to previous map
.. _BaseJointNavigationDirection:
.. py:class:: JointNavigationDirection
Admissible joint navigation directions
:canonical: kortex_api.autogen.messages.Base_pb2.JointNavigationDirection
.. py:attribute:: UNSPECIFIED_JOINT_NAVIGATION_DIRECTION (0): Unspecified joint navigation direction
.. py:attribute:: JOINT_NEXT (1): Go to next joint
.. py:attribute:: JOINT_PREVIOUS (2): Go to previous joint
.. _BaseSoundType:
.. py:class:: SoundType
Admissible sound types (not implemented yet)
:canonical: kortex_api.autogen.messages.Base_pb2.SoundType
.. py:attribute:: UNSPECIFIED_SOUND_TYPE (0): Unspecified sound types
.. py:attribute:: BIP_SERIES (1): Bip series sound type
.. py:attribute:: SINGLE_BIP (2): Single bin sound type
.. _BaseXboxOneDigitalInputIdentifier:
.. py:class:: XboxOneDigitalInputIdentifier
Admissible XBOXONE digital inputs
:canonical: kortex_api.autogen.messages.Base_pb2.XboxOneDigitalInputIdentifier
.. py:attribute:: UNSPECIFIED_XBOXONE_DIGITAL (0): Unspecified digital input
.. py:attribute:: XBOXONE_PAD_UP (1): Pad up input
.. py:attribute:: XBOXONE_PAD_DOWN (2): Pad down input
.. py:attribute:: XBOXONE_PAD_LEFT (3): Pad left input
.. py:attribute:: XBOXONE_PAD_RIGHT (4): Pad right input
.. py:attribute:: XBOXONE_FILE_BUTTON_START (5): File button start input
.. py:attribute:: XBOXONE_DOCUMENT_BUTTON_BACK (6): Document button back input
.. py:attribute:: XBOXONE_LEFT_THUMB_BUTTON (7): Left thumb button input
.. py:attribute:: XBOXONE_RIGHT_THUMB_BUTTON (8): Right thumb button input
.. py:attribute:: XBOXONE_LEFT_SHOULDER (9): Left shoulder input
.. py:attribute:: XBOXONE_RIGHT_SHOULDER (10): Right shoulder input
.. py:attribute:: XBOXONE_BUTTON_A (13): Button A input
.. py:attribute:: XBOXONE_BUTTON_B (14): Button B input
.. py:attribute:: XBOXONE_BUTTON_X (15): Button X input
.. py:attribute:: XBOXONE_BUTTON_Y (16): Button Y input
.. _BaseXboxOneAnalogInputIdentifier:
.. py:class:: XboxOneAnalogInputIdentifier
Admissible XBOXONE analog inputs
:canonical: kortex_api.autogen.messages.Base_pb2.XboxOneAnalogInputIdentifier
.. py:attribute:: UNSPECIFIED_XBOXONE_ANALOG (0): Unspecified analog input
.. py:attribute:: XBOXONE_THUMB_LEFT_X (1): Thumb left X input
.. py:attribute:: XBOXONE_THUMB_LEFT_Y (2): Thumb left Y input
.. py:attribute:: XBOXONE_THUMB_RIGHT_X (3): Thumb right X input
.. py:attribute:: XBOXONE_THUMB_RIGHT_Y (4): Thumb right Y input
.. py:attribute:: XBOXONE_TRIGGER_LEFT (5): Trigger left input
.. py:attribute:: XBOXONE_TRIGGER_RIGHT (6): Trigger right input
.. _BaseGen3WristDigitalInputIdentifier:
.. py:class:: Gen3WristDigitalInputIdentifier
Admissible Gen3 wrist digital inputs
:canonical: kortex_api.autogen.messages.Base_pb2.Gen3WristDigitalInputIdentifier
.. py:attribute:: UNSPECIFIED_WRIST_DIGITAL (0): Unspecified digital input
.. py:attribute:: WRIST_BUTTON_1 (1): Button 1 input
.. py:attribute:: WRIST_BUTTON_2 (2): Button 2 input
.. py:attribute:: WRIST_BUTTON_BOTH (3): Button 1 + Button 2 combo
.. _BaseLink6WristDigitalInputIdentifier:
.. py:class:: Link6WristDigitalInputIdentifier
Admissible Link 6 wrist digital inputs
:canonical: kortex_api.autogen.messages.Base_pb2.Link6WristDigitalInputIdentifier
.. py:attribute:: UNSPECIFIED_BUTTON (0): Unspecified digital input
.. py:attribute:: HAND_GUIDING_BUTTON (1): Hand-Guiding button
.. py:attribute:: SNAPSHOT_BUTTON (2): Snapshot button
.. py:attribute:: PLUS_BUTTON (3): "Plus" button (+)
.. py:attribute:: MINUS_BUTTON (4): "Minus" button (-)
.. py:attribute:: MODE_SELECTION_BUTTON (5): Mode selection button
.. _BaseCapSenseMode:
.. py:class:: CapSenseMode
Admissible capacitive sensor modes
:canonical: kortex_api.autogen.messages.Base_pb2.CapSenseMode
.. py:attribute:: RESERVED (0): Reserved, do not use
.. py:attribute:: INACTIVE (1): Cap sensor is inactive
.. py:attribute:: ACTIVE_AUTO_THRESHOLD (2): Cap sensor is active in automatic threshold mode
.. py:attribute:: ACTIVE_NOISE_ATT (4): Cap sensor is active with noise mitigation enabled
.. py:attribute:: ACTIVE_NORMAL (5): Cap sensor is active in normal mode
.. py:attribute:: CONFIGURATION (6): Configuration mode
.. _BaseTrajectoryContinuityMode:
.. py:class:: TrajectoryContinuityMode
Admissible trajectory continuity mode
:canonical: kortex_api.autogen.messages.Base_pb2.TrajectoryContinuityMode
.. py:attribute:: TRAJECTORY_CONTINUITY_MODE_UNSPECIFIED (0): Unspecified continuity
.. py:attribute:: TRAJECTORY_CONTINUITY_MODE_POSITION (1): Position continuity only
.. py:attribute:: TRAJECTORY_CONTINUITY_MODE_SPEED (2): Position and speed continuity
.. py:attribute:: TRAJECTORY_CONTINUITY_MODE_ACCELERATION (3): Position, speed and acceleration continuity
.. _BaseTrajectoryErrorType:
.. py:class:: TrajectoryErrorType
Trajectory validation error types
:canonical: kortex_api.autogen.messages.Base_pb2.TrajectoryErrorType
.. py:attribute:: TRAJECTORY_ERROR_TYPE_UNSPECIFIED (0): Unspecified error type
.. py:attribute:: TRAJECTORY_ERROR_TYPE_OUTSIDE_WORKSPACE (1): The desired pose is outside robot workspace
.. py:attribute:: TRAJECTORY_ERROR_TYPE_ACTUATOR_COUNT_MISMATCH (2): The provided number of joint values does not match robot's number of actuators
.. py:attribute:: TRAJECTORY_ERROR_TYPE_INVALID_DURATION (3): The duration exceeds a limit or is invalid
.. py:attribute:: TRAJECTORY_ERROR_TYPE_JOINT_NO_MOTION (4): The robot's actuators are already at the targeted configuration
.. py:attribute:: TRAJECTORY_ERROR_TYPE_INVALID_JOINT_SPEED (5): The joint speed exceeds a limit, initial speed does not match current robot speed or is invalid
.. py:attribute:: TRAJECTORY_ERROR_TYPE_INVALID_JOINT_ACCELERATION (7): The joint acceleration exceeds a limit or is invalid
.. py:attribute:: TRAJECTORY_ERROR_TYPE_INVALID_TIME_STEP (8): The time step does not match robot time step or is invalid
.. py:attribute:: TRAJECTORY_ERROR_TYPE_INVALID_TRAJECTORY_SIZE (9): The trajectory size is outside the limits or is invalid
.. py:attribute:: TRAJECTORY_ERROR_TYPE_INVALID_JOINT_POSITION (11): The joint position exceeds a limit, initial joint position does not match current robot joint position or is invalid
.. py:attribute:: TRAJECTORY_ERROR_TYPE_TRAJECTORY_ALREADY_RUNNING (15): The new trajectory cannot start because another trajectory is being played
.. py:attribute:: TRAJECTORY_ERROR_TYPE_INVALID_CARTESIAN_POSITION (20): The cartesian position exceeds a limit, initial pose does not match current robot pose or is invalid
.. py:attribute:: TRAJECTORY_ERROR_TYPE_INVALID_CARTESIAN_ORIENTATION (21): The cartesian orientation exceeds a limit, initial orientation does not match current robot orientation or is invalid
.. py:attribute:: TRAJECTORY_ERROR_TYPE_INVALID_CARTESIAN_LINEAR_VELOCITY (22): The cartesian linear velocity exceeds a limit or is invalid
.. py:attribute:: TRAJECTORY_ERROR_TYPE_INVALID_CARTESIAN_ANGULAR_VELOCITY (23): The cartesian angular velocity exceeds a limit or is invalid
.. py:attribute:: TRAJECTORY_ERROR_TYPE_INVALID_JOINT_TORQUE (24): The joint torque exceeds a limit or is invalid
.. py:attribute:: TRAJECTORY_ERROR_TYPE_MULTIPLE_WAYPOINT_TYPE_LIST (25): The waypoints in a trajectory must be all of the same type (cartesian or angular)
.. py:attribute:: TRAJECTORY_ERROR_TYPE_INITIAL_WAYPOINT_NO_STOP (26): The first waypoint must not have blending
.. py:attribute:: TRAJECTORY_ERROR_TYPE_FINAL_WAYPOINT_NO_STOP (27): The last waypoint must not have blending
.. py:attribute:: TRAJECTORY_ERROR_TYPE_INVALID_BLENDING_RADIUS (28): The blending radius must be positive and not overlap other blendings or waypoint or is invalid
.. py:attribute:: TRAJECTORY_ERROR_TYPE_INVALID_REFERENCE_FRAME (29): The reference frame is invalid or not supported
.. py:attribute:: TRAJECTORY_ERROR_TYPE_NUMERICAL_ERROR_IMPOSSIBLE_TRAJECTORY (30): The conditions (points, velocities) of the trajectory lead to numerical errors that make the computation impossible
.. py:attribute:: TRAJECTORY_ERROR_TYPE_CONTROLLED_STOP_IN_PROGRESS (31): A controlled stop is in progress
.. py:attribute:: TRAJECTORY_ERROR_TYPE_COMPUTE_FAIL_UNEXPECTED_ERROR (32): Computation of Waypoint trajectory failed due to an unknown error.
.. _BaseTrajectoryInfoType:
.. py:class:: TrajectoryInfoType
Additional trajectory info type
:canonical: kortex_api.autogen.messages.Base_pb2.TrajectoryInfoType
.. py:attribute:: UNSPECIFIED_TRAJECTORY_INFORMATION (0): No information provided
.. py:attribute:: JOINT_ACCELERATION_LIMIT_REACHED (1): Joint acceleration limit reached
.. py:attribute:: JOINT_SPEED_LIMIT_REACHED (2): Joint speed limit reached
.. py:attribute:: JOINT_POSITION_LIMIT_REACHED (3): Joint position limit reached
.. py:attribute:: JOINT_TORQUE_LIMIT_REACHED (4): Joint torque limit reached
.. py:attribute:: SINGULARITY_REGION (5): The arm is inside a singularity region
.. py:attribute:: INVERSE_KINEMATIC_FAILED (6): The inverse kinematic calculation has failed
.. py:attribute:: CARTESIAN_ACCELERATION_LIMIT_REACHED (7): Cartesian acceleration limit reached
.. py:attribute:: CARTESIAN_SPEED_LIMIT_REACHED (8): Cartesian speed limit reached
.. py:attribute:: CARTESIAN_POSITION_LIMIT_REACHED (9): Cartesian position limit reached
.. py:attribute:: CARTESIAN_WRENCH_LIMIT_REACHED (10): Cartesian torque limit reached
.. py:attribute:: ENTERING_PROTECTION_ZONE (11): The arm is entering a protection zone
.. py:attribute:: WAYPOINT_REACHED (12): Waypoint reached
.. py:attribute:: TRAJECTORY_OK (13): There is more trajectory notification
.. _BaseEnablingDeviceEvent:
.. py:class:: EnablingDeviceEvent
Enabling device event type
:canonical: kortex_api.autogen.messages.Base_pb2.EnablingDeviceEvent
.. py:attribute:: UNSPECIFIED_ENABLING_DEVICE_EVENT (0): No enabling device event
.. py:attribute:: ENABLING_DEVICE_PRESSED (1): The enabling device has been pressed
.. py:attribute:: ENABLING_DEVICE_RELEASED (2): The enabling device has been released
.. _BaseEnablingDeviceType:
.. py:class:: EnablingDeviceType
Enabling device type
:canonical: kortex_api.autogen.messages.Base_pb2.EnablingDeviceType
.. py:attribute:: UNSPECIFIED_ENABLING_DEVICE_TYPE (0): Unspecified enabling device
.. py:attribute:: WRIST_ENABLING_DEVICE (1): Wrist enabling device
.. py:attribute:: TEACH_PENDANT_ENABLING_DEVICE (2): Teach pendant enabling device
.. py:attribute:: SAFETY_INPUT_ENABLING_DEVICE (3): Safety input enabling device
.. _BaseInverseKinematicsEventType:
.. py:class:: InverseKinematicsEventType
Inverse kinematics event type
:canonical: kortex_api.autogen.messages.Base_pb2.InverseKinematicsEventType
.. py:attribute:: UNSPECIFIED_IK_EVENT (0): Unspecified inverse kinematics event
.. py:attribute:: IK_SOLUTION_NOT_FOUND (1): Inverse kinematic solution event
.. py:attribute:: IK_SINGULARITY_REGION (2): Arm is in a singularity region event
.. _BaseJointLimitEventType:
.. py:class:: JointLimitEventType
Joint limit event type
:canonical: kortex_api.autogen.messages.Base_pb2.JointLimitEventType
.. py:attribute:: UNSPECIFIED_JOINT_LIMIT_EVENT (0): Unspecified joint limit event
.. py:attribute:: JOINT_LIMIT_ACCELERATION (1): Joint acceleration limit reached
.. py:attribute:: JOINT_LIMIT_SPEED (2): Joint speed limit reached
.. py:attribute:: JOINT_LIMIT_POSITION (3): Joint position limit reached
.. py:attribute:: JOINT_LIMIT_POSITION_TOWARDS_LIMITS (4): Joint moving toward joint position limits
.. py:attribute:: JOINT_LIMIT_TORQUE (5): Joint torque limit reached
.. py:attribute:: JOINT_LIMIT_ACCELERATION_SATURATED (6): Joint acceleration saturated
.. py:attribute:: JOINT_LIMIT_SPEED_SATURATED (7): Joint speed saturated
.. py:attribute:: JOINT_LIMIT_POSITION_SATURATED (8): Joint position saturated
.. py:attribute:: JOINT_LIMIT_TRACKING_ERROR (9): Joint position tracking error has exceeded the configured robot joint position tracking error limit
.. _BaseProtectionZoneEventType:
.. py:class:: ProtectionZoneEventType
Protection zone event type
:canonical: kortex_api.autogen.messages.Base_pb2.ProtectionZoneEventType
.. py:attribute:: UNSPECIFIED_PROTECTION_ZONE_EVENT (0): Unspecified protection zone event
.. py:attribute:: PROTECTION_ZONE_INSIDE_REDUCED_SPEED_ZONE (1): The tool or the arm has entered a reduced speed zone
.. py:attribute:: PROTECTION_ZONE_INSIDE_STOP_ZONE (2): The tool or the arm has entered in a protection zone (stopping)
.. _BaseProtectionZoneElementType:
.. py:class:: ProtectionZoneElementType
Protection zone element type
:canonical: kortex_api.autogen.messages.Base_pb2.ProtectionZoneElementType
.. py:attribute:: UNSPECIFIED_PROTECTION_ZONE_ELEMENT (0): Unspecified protection zone element type
.. py:attribute:: PROTECTION_ZONE_ELEMENT_TOOL (1): The tool has triggered the protection zone event
.. py:attribute:: PROTECTION_ZONE_ELEMENT_ARM (2): The arm has triggered the protection zone event
.. _BaseCollisionEventType:
.. py:class:: CollisionEventType
Collision event type
:canonical: kortex_api.autogen.messages.Base_pb2.CollisionEventType
.. py:attribute:: UNSPECIFIED_COLLISION_EVENT (0): Unspecified collision event type
.. py:attribute:: COLLISION_DETECTED_EVENT (1): A Collision has been detected on one or many joints
.. py:attribute:: SELF_COLLISION_PREVENTED_EVENT (2): A self collision between two joints has been prevented
.. _BaseCartesianLimitEventType:
.. py:class:: CartesianLimitEventType
Cartesian limit event type
:canonical: kortex_api.autogen.messages.Base_pb2.CartesianLimitEventType
.. py:attribute:: UNSPECIFIED_CARTESIAN_LIMIT_EVENT (0): Unspecified cartesian limit event
.. py:attribute:: TOOL_LINEAR_VELOCITY_LIMIT (1): Tool linear velocity limit reached
.. py:attribute:: TOOL_ANGULAR_VELOCITY_LIMIT (2): Tool angular velocity limit reached
.. py:attribute:: ELBOW_LINEAR_VELOCITY_LIMIT (3): Elbow linear velocity limit reached
.. py:attribute:: TOOL_LINEAR_VELOCITY_SATURATED (4): Tool linear velocity saturated
.. py:attribute:: TOOL_ANGULAR_VELOCITY_SATURATED (5): Tool angular velocity saturated
.. py:attribute:: ELBOW_LINEAR_VELOCITY_SATURATED (6): Elbow linear velocity saturated
.. _BaseProgramRequestEventType:
.. py:class:: ProgramRequestEventType
Program request event type
:canonical: kortex_api.autogen.messages.Base_pb2.ProgramRequestEventType
.. py:attribute:: PROGRAM_REQUEST_UNSPECIFIED (0): Unspecified program request
.. py:attribute:: PROGRAM_REQUEST_PAUSE (1): Program request pause
.. py:attribute:: PROGRAM_REQUEST_RESUME (2): Program request resume
.. py:attribute:: PROGRAM_REQUEST_STOP (3): Program request stop
.. py:attribute:: PROGRAM_REQUEST_PAUSE_AUTOMATIC_RESUME (4): Program request pause with automatic resume
.. _BaseAcknowledgeActionEvent:
.. py:class:: AcknowledgeActionEvent
Acknowledge action event type
:canonical: kortex_api.autogen.messages.Base_pb2.AcknowledgeActionEvent
.. py:attribute:: UNSPECIFIED_ACKNOWLEDGE_ACTION_EVENT (0): No acknowledge action event
.. py:attribute:: ACKNOWLEDGE_ACTION_OCCURRED (1): Acknowledge action occurred