Base

class ArmCalibrationStatusType

Arm calibration status type

Canonical

kortex_api.autogen.messages.Base_pb2.ArmCalibrationStatusType

ARM_CALIBRATION_STATUS_UNKNOWN (0):   Unknown arm calibration status

ARM_CALIBRATION_STATUS_CALIBRATED (1):   Calibrated status

ARM_CALIBRATION_STATUS_NOT_CALIBRATED (2):   Not calibrated status

ARM_CALIBRATION_STATUS_WAITING_ARM_POWER_ON (3):   Waiting arm power on status

class ServiceVersion

Identifies Base service current version

Canonical

kortex_api.autogen.messages.Base_pb2.ServiceVersion

RESERVED_0 (0):   Reserved

CURRENT_VERSION (1):   Current version

class ActionType

Admissible types of actions

Canonical

kortex_api.autogen.messages.Base_pb2.ActionType

UNSPECIFIED_ACTION (0):   Unspecified action type

SEND_TWIST_COMMAND (1):   Control the robot in Cartesian velocity

SEND_JOINT_SPEEDS (4):   Control each joint speed

TOGGLE_HAND_GUIDING_MODE (13):   Enable or disable the Hand-Guiding mode

SWITCH_CONTROL_MAPPING (16):   Switch the active controller map

NAVIGATE_JOINTS (17):   Select the next actuator to control from control mapping

NAVIGATE_MAPPINGS (18):   Select a different map

CHANGE_TWIST (22):   Change the twist

CHANGE_JOINT_SPEEDS (23):   Change the joint speeds individually

APPLY_QUICK_STOP (28):   Apply robot quick stop

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])

EXECUTE_ACTION (32):   Execute an existing action

STOP_ACTION (35):   Stop robot movement

PLAY_PRE_COMPUTED_TRAJECTORY (39):   Play a pre-computed trajectory

EXECUTE_WAYPOINT_LIST (41):   Execute a trajectory defined by a series of waypoints

CHANGE_PAYLOAD_PARAMETERS (42):   Change the payload

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

UNSPECIFIED_NETWORK_TYPE (0):   Unspecified network type

WIFI (1):   Wi-Fi network

WIRED_ETHERNET (2):   Wired Ethernet network

WIRED_MICROUSB(3):   Wired Ethernet over USB network (RNDIS)

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

UNSPECIFIED_AUTHENTICATION (0):   Unspecified Wi-Fi security type

WEP (1):   WEP authentication required

WPA2_PERSONAL (2):   WPA2 Personal authentication required

WPA_PERSONAL (4):   WPA Personal authentication required

NO_AUTHENTICATION (8):   No authentication required

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

UNSPECIFIED_ENCRYPTION (0):   Unspecified Wi-Fi encryption type

AES_ENCRYPTION (1):   AES encryption

TKIP_ENCRYPTION (2):   TKIP encryption

WEP_ENCRYPTION (4):   WEP encryption

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

UNSPECIFIED_SIGNAL_QUALITY (0):   Unspecified signal quality

POOR (1):   Poor signal quality

FAIR (2):   Fair signal quality

GOOD (3):   Good signal quality

EXCELLENT (4):   Excellent signal quality

NONE (5):   No signal

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

UNSPECIFIED_CONFIGURATION_EVENT (0):   Unspecified configuration event

CONFIGURATION_UPDATED (1):   Configuration deleted

CONFIGURATION_DELETED (2):   Configuration updated

CONFIGURATION_DELETED_ALL (3):   All configurations deleted

CONFIGURATION_CREATED (4):   Configuration created

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

UNSPECIFIED_OPERATING_MODE (0):   Unspecified operating mode

MAINTENANCE_MODE (1):   Robot in maintenance mode

UPDATE_MODE (2):   Robot waiting for upgrade package

UPDATE_COMPLETED_MODE (3):   Robot update successfully completed

UPDATE_FAILED_MODE (4):   Robot update failed

SHUTTING_DOWN_MODE (5):   Robot about to shutdown

RUN_MODE(6):   Robot properly running (or normal operation mode)

UPDATING_DEVICE_MODE (7):   Robot updating device

class UpdatingMode

Admissible robot updating modes (used to report robot firmware upgrade current state)

Canonical

kortex_api.autogen.messages.Base_pb2.UpdatingMode

UPDATE_MODE_UNSPECIFIED (0):   Unspecified updating mode

UPDATE_MODE_MAINTENANCE (1):   Robot in maintenance mode

UPDATE_MODE_UPDATE (2):   Robot waiting for upgrade package

UPDATE_MODE_UPDATE_COMPLETED (3):   Robot update successfully completed

UPDATE_MODE_UPDATE_FAILED (4):   Robot update failed

UPDATE_MODE_SHUTTING_DOWN (5):   Robot about to shutdown

UPDATE_MODE_IDLE(6):   Robot properly running (or normal operation mode)

UPDATE_MODE_UPDATING_DEVICE (7):   Robot updating device

class ServoingMode

Admissible servoing modes

Canonical

kortex_api.autogen.messages.Base_pb2.ServoingMode

UNSPECIFIED_SERVOING_MODE (0):   Unspecified servoing mode

SINGLE_LEVEL_SERVOING (2):   Single-level servoing

LOW_LEVEL_SERVOING (3):   Low-level servoing

BYPASS_SERVOING (4):   Bypass mode

class UserEvent

Admissible user event types

Canonical

kortex_api.autogen.messages.Base_pb2.UserEvent

UNSPECIFIED_USER_EVENT (0):   Unspecified user event

LOGGED_OUT (1):   User logged out

LOGGED_IN (2):   User logged in

class ControllerType

Admissible controller types

Canonical

kortex_api.autogen.messages.Base_pb2.ControllerType

UNSPECIFIED_CONTROLLER_TYPE (0):   Unspecified controller device type

XBOX_CONTROLLER (1):   Xbox gamepad

BASIC_JOYSTICK_CONTROLLER (3):   Simplified joystick connected to Kinova robot base

BASE_GPIO_CONTROLLER (4):   GPIO Controller

LINK_WRIST_CONTROLLER (6):   Link wrist buttons

class ControllerEventType

Admissible controller event types

Canonical

kortex_api.autogen.messages.Base_pb2.ControllerEventType

UNSPECIFIED_CONTROLLER_EVENT (0):   Unspecified controller event

CONTROLLER_DISCONNECTED (1):   Controller is disconnected

CONTROLLER_CONNECTED (2):   Controller is connected

class ControllerElementEventType

Admissible controller element event types

Canonical

kortex_api.autogen.messages.Base_pb2.ControllerElementEventType

UNSPECIFIED_CONTROLLER_ELEMENT_EVENT (0):   Unspecified controller element event

AXIS_MOVED (1):   Controller axis moved

BUTTON_DOWN (2):   Controller button pressed

BUTTON_UP (3):   Controller button released

BUTTON_CLICK (4):   Controller button clicked

class ActionEvent

Admissible action event types

Canonical

kortex_api.autogen.messages.Base_pb2.ActionEvent

UNSPECIFIED_ACTION_EVENT (0):   Unspecified action event

ACTION_END (1):   Action execution end reached

ACTION_ABORT (2):   Action execution aborted

ACTION_PAUSE (3):   Action execution paused

ACTION_START (4):   Action execution started

ACTION_PREPROCESS_START (5):   Action pre-process started

ACTION_PREPROCESS_ABORT (6):   Action pre-process aborted

ACTION_PREPROCESS_END (7):   Action pre-process ended

ACTION_POSTPROCESS_START (8):   Action post-process started

ACTION_POSTPROCESS_ABORT (9):   Action post-process aborted

ACTION_POSTPROCESS_END (10):   Action post-process ended

ACTION_FEEDBACK (11):   Action feedback received

class RobotEvent

Admissible robot events

Canonical

kortex_api.autogen.messages.Base_pb2.RobotEvent

UNSPECIFIED_ROBOT_EVENT (0):   Unspecified robot event

ARM_CONNECTED (1):   Robot arm is connected

ARM_DISCONNECTED (2):   Robot arm is disconnected

USB_STORAGE_CONNECTED (8):   USB storage has been connected

USB_STORAGE_DISCONNECTED (9):   USB storage has been disconnected

class FactoryEvent

Admissible factory events

Canonical

kortex_api.autogen.messages.Base_pb2.FactoryEvent

UNSPECIFIED_FACTORY_EVENT (0):   Unspecified factory event

FACTORY_DEFAULT_RESTORED (1):   Factory defaults restored on robot

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

UNSPECIFIED_NETWORK_EVENT (0):   Unspecified network event

WIFI_CONNECTED (1):   Wi-Fi connected

WIFI_DISCONNECTED (2):   Wi-Fi Disconnected

WIFI_SCAN_STARTED (3):   Wi-Fi scan was initiated

WIFI_SCAN_RESULTS (4):   Wi-Fi scan results are available

WIFI_SCAN_FAILED (5):   Wi-Fi scan failed

WIFI_NOT_FOUND (6):   Wi-Fi selected network not found

WIFI_ASSOC_REJECTED (7):   Wi-Fi AP rejected association

WIFI_AUTH_WRONG_KEY (8):   Wi-Fi wrong PSK supplied

WIFI_AUTH_CONN_FAILED (9):   Wi-Fi connection failure during auth

WIFI_AUTH_FAILED (10):   Wi-Fi authentication failure

class ControllerInputType

Admissible controller input types

Canonical

kortex_api.autogen.messages.Base_pb2.ControllerInputType

UNSPECIFIED_CONTROLLER_INPUT_TYPE (0):   Unspecified controller input type

ANALOG (1):   Analog controller input type

DIGITAL (2):   Digital controller input type

class ControllerBehavior

Admissible controller input behaviors

Canonical

kortex_api.autogen.messages.Base_pb2.ControllerBehavior

UNSPECIFIED_CONTROLLER_BEHAVIOR (0):   Unspecified controller behavior

CONTROLLER_BUTTON_DOWN (1):   Pushing button down

CONTROLLER_BUTTON_UP (2):   Releasing button

CONTROLLER_AXIS_POSITIVE (3):   Positive axis movement

CONTROLLER_AXIS_NEGATIVE (4):   Negative axis movement

CONTROLLER_BUTTON_CLICK (5):   Button down and up within X msec

class BaseDiagnosticIdentifierBankA

Admissible Base bank A diagnostics. Used with BaseCyclic.BaseFeedback.fault_bank_a

Canonical

kortex_api.autogen.messages.Base_pb2.BaseDiagnosticIdentifierBankA

BASE_BANK_A_UNSPECIFIED_DIAGNOSTIC_IDENTIFIER (0):   0x0 - Unspecified base diagnostic

BASE_BANK_A_FIRMWARE_UPDATE_FAILURE (1):   0x1 - Firmware update failure

BASE_BANK_A_EXTERNAL_COMMUNICATION_ERROR (2):   0x2 - External communication error

BASE_BANK_A_JOINT_FAULT (16):   0x10 - Joint fault

BASE_BANK_A_NO_KINEMATICS_SUPPORT (32):   0x20 - No kinematics support

BASE_BANK_A_NETWORK_ERROR (64):   0x40 - Network error

BASE_BANK_A_JOINT_DETECTION_ERROR (128):   0x80 - Joint detection error

BASE_BANK_A_NETWORK_INITIALIZATION_ERROR (256):   0x100 - Network initialization error

BASE_BANK_A_EMERGENCY_STOP_ACTIVATED (4096):   0x1000 - Emergency  stop activated

BASE_BANK_A_NVRAM_CORRUPTED (32768):   0x8000 - NVRAM corrupted

BASE_BANK_A_INCOMPATIBLE_FIRMWARE_VERSION (65536):   0x10000 - Incompatible firmware version

BASE_BANK_A_POWERON_SELF_TEST_FAILURE (131072):   0x20000 - Power on self test failure

BASE_BANK_A_STOP_TRIGGERED (1048576):   0x100000 - Stop triggered

BASE_BANK_A_PROTECTION_ZONE_COLLISION_DETECTED (2097152):   0x200000 - Protection zone collision detected

BASE_BANK_A_SELF_COLLISION_DETECTED (4194304):   0x400000 - Self-collision detected

BASE_BANK_A_COLLISION_DETECTED (8388608):   0x800000 - Collision detected

BASE_BANK_A_SAFETY_PARAMETERS_CHECKSUM_MISMATCH (16777216):   0x1000000 - Safety parameters checksum mismatch

BASE_BANK_A_HARD_STOP_FAILURE (33554432):   0x2000000 - Hard Stop command failed

BASE_BANK_A_SINGULARITY_ERROR_DETECTED (67108864):   0x4000000 - Singularity error detected

BASE_BANK_A_JOINT_LIMIT_POSITION (134217728):   0x8000000 - Joint Limit Position

BASE_BANK_A_JOINT_TRACKING_ERROR (268435456):   0x10000000 - Joint Tracking Error

BASE_BANK_A_CALIB_SERIAL_NUMBER_INVALID (536870912):   0x20000000 - Calibration serial number invalid

BASE_BANK_A_ACTUATOR_MODEL_INVALID (1073741824):   0x40000000 - Actuator Model invalid

class BaseDiagnosticIdentifierBankB

Admissible Base bank B diagnostics. Used with BaseCyclic.BaseFeedback.fault_bank_b

Canonical

kortex_api.autogen.messages.Base_pb2.BaseDiagnosticIdentifierBankB

BASE_BANK_B_UNSPECIFIED_DIAGNOSTIC_IDENTIFIER (0):   0x0 - Unspecified base diagnostic

BASE_BANK_B_JOINT_1_MOTOR_TEMPERATURE_TOO_HIGH (1):   0x1 - Joint 1 motor temperature too high

BASE_BANK_B_JOINT_2_MOTOR_TEMPERATURE_TOO_HIGH (2):   0x2 - Joint 2 motor temperature too high

BASE_BANK_B_JOINT_3_MOTOR_TEMPERATURE_TOO_HIGH (4):   0x4 - Joint 3 motor temperature too high

BASE_BANK_B_JOINT_4_MOTOR_TEMPERATURE_TOO_HIGH (8):   0x8 - Joint 4 motor temperature too high

BASE_BANK_B_JOINT_5_MOTOR_TEMPERATURE_TOO_HIGH (16):   0x10 - Joint 5 motor temperature too high

BASE_BANK_B_JOINT_6_MOTOR_TEMPERATURE_TOO_HIGH (32):   0x20 - Joint 6 motor temperature too high

BASE_BANK_B_JOINT_7_MOTOR_TEMPERATURE_TOO_HIGH (64):   0x40 - Joint 7 motor temperature too high

BASE_BANK_B_JOINT_1_CORE_TEMPERATURE_TOO_HIGH (128):   0x80 - Joint 1 core temperature too high

BASE_BANK_B_JOINT_2_CORE_TEMPERATURE_TOO_HIGH (256):   0x100 - Joint 2 core temperature too high

BASE_BANK_B_JOINT_3_CORE_TEMPERATURE_TOO_HIGH (512):   0x200 - Joint 3 core temperature too high

BASE_BANK_B_JOINT_4_CORE_TEMPERATURE_TOO_HIGH (1024):   0x400 - Joint 4 core temperature too high

BASE_BANK_B_JOINT_5_CORE_TEMPERATURE_TOO_HIGH (2048):   0x800 - Joint 5 core temperature too high

BASE_BANK_B_JOINT_6_CORE_TEMPERATURE_TOO_HIGH (4096):   0x1000 - Joint 6 core temperature too high

BASE_BANK_B_JOINT_7_CORE_TEMPERATURE_TOO_HIGH (8192):   0x2000 - Joint 7 core temperature too high

class LinkStateIdentifierBank

Admissible State Bank Used with BaseCyclic.BaseFeedback.state_bank

Canonical

kortex_api.autogen.messages.Base_pb2.LinkStateIdentifierBank

LINK_STATE_BANK_UNSPECIFIED_IDENTIFIER (0):   0x0 - Unspecified Link state bank identifier

LINK_STATE_BANK_COLLISION_DETECTED (1):   0x1 - Collision detected

class LinkSCUDiagnosticIdentifierBankA

Admissible Link SCU bank A diagnostics. Used with BaseCyclic.BaseFeedback.scu_fault_bank_a

Canonical

kortex_api.autogen.messages.Base_pb2.LinkSCUDiagnosticIdentifierBankA

LINK_SCU_BANK_A_UNSPECIFIED_DIAGNOSTIC_IDENTIFIER (0):   0x0 - Unspecified Link SCU diagnostic bank A identifier

LINK_SCU_BANK_A_STARTUP_SELF_TESTS_TIMED_OUT (1):   0x1 - startup self-tests timed out

LINK_SCU_BANK_A_SCU_MCU_BIST_MODULE_FAILURE (2):   0x2 - SCU MCU BIST module failure

LINK_SCU_BANK_A_SCU_MCU_MEMORY_BIST_FAULT (4):   0x4 - SCU MCU memory BIST fault

LINK_SCU_BANK_A_SCU_MCU_LOGIC_BIST_FAULT (8):   0x8 - SCU MCU logic BIST fault

LINK_SCU_BANK_A_SCU_MCU_STARTUP_BIST_TIMEOUT (16):   0x10 - SCU MCU startup BIST timeout

LINK_SCU_BANK_A_SCU_MCU_CORE_TEMPERATURE_TOO_HIGH (64):   0x40 - SCU MCU core temperature too high

LINK_SCU_BANK_A_SCU_MCU_CORE_TEMPERATURE_TOO_LOW (128):   0x80 - SCU MCU core temperature too low

LINK_SCU_BANK_A_SCU_BOARD_TEMPERATURE_TOO_HIGH (256):   0x100 - SCU board temperature too high

LINK_SCU_BANK_A_SCU_BOARD_TEMPERATURE_TOO_LOW (512):   0x200 - SCU board temperature too low

LINK_SCU_BANK_A_RESERVED_1024 (1024):   0x400 - reserved

LINK_SCU_BANK_A_RESERVED_2048 (2048):   0x800 - reserved

LINK_SCU_BANK_A_SBC_SPI_CONFIGURATION_FAILED (4096):   0x1000 - SBC SPI configuration failed

LINK_SCU_BANK_A_SBC_FAULT_DETECTED (8192):   0x2000 - SBC fault detected

LINK_SCU_BANK_A_SBC_DEBUG_MODE_ACTIVE (16384):   0x4000 - SBC debug mode active

LINK_SCU_BANK_A_CLAMP_VIN_OVERVOLTAGE (32768):   0x8000 - clamp Vin overvoltage

LINK_SCU_BANK_A_CLAMP_VIN_UNDERVOLTAGE (65536):   0x10000 - clamp Vin_undervoltage

LINK_SCU_BANK_A_CLAMP_VOUT_OVERVOLTAGE (131072):   0x20000 - clamp Vout overvoltage

LINK_SCU_BANK_A_CLAMP_VOUT_UNDERVOLTAGE (262144):   0x40000 - clamp Vout undervoltage

LINK_SCU_BANK_A_CLAMP_TEMPERATURE_TOO_HIGH (524288):   0x80000 - clamp temperature too high

LINK_SCU_BANK_A_ARM_OVERCURRENT (1048576):   0x100000 - arm overcurrent

LINK_SCU_BANK_A_EMERGENCY_STOP_BUTTON_SIGNALS_DISAGREEMENT (2097152):   0x200000 - emergency stop button signals disagreement

LINK_SCU_BANK_A_SAFETY_INPUT_0_SIGNALS_DISAGREEMENT (4194304):   0x400000 - safety input 0 signals disagreement

LINK_SCU_BANK_A_SAFETY_INPUT_1_SIGNALS_DISAGREEMENT (8388608):   0x800000 - safety input 1 signals disagreement

LINK_SCU_BANK_A_SAFETY_INPUT_2_SIGNALS_DISAGREEMENT (16777216):   0x1000000 - safety input 2 signals disagreement

LINK_SCU_BANK_A_SAFETY_INPUT_3_SIGNALS_DISAGREEMENT (33554432):   0x2000000 - safety input 3 signals disagreement

LINK_SCU_BANK_A_SAFETY_INPUT_4_SIGNALS_DISAGREEMENT (67108864):   0x4000000 - safety input 4 signals disagreement

LINK_SCU_BANK_A_SAFETY_INPUT_5_SIGNALS_DISAGREEMENT (134217728):   0x8000000 - safety input 5 signals disagreement

LINK_SCU_BANK_A_SAFETY_INPUT_6_SIGNALS_DISAGREEMENT (268435456):   0x10000000 - safety input 6 signals disagreement

LINK_SCU_BANK_A_SAFETY_INPUT_7_SIGNALS_DISAGREEMENT (536870912):   0x20000000 - safety input 7 signals disagreement

LINK_SCU_BANK_A_TP_EMERGENCY_STOP_SIGNALS_DISAGREEMENT (1073741824):   0x40000000 - teach pendant emergency stop button signals disagreement

LINK_SCU_BANK_A_TP_ENABLING_DEVICE_SIGNALS_DISAGREEMENT (-2147483648):   0x80000000 - teach pendant enabling device signals disagreement

class LinkSCUDiagnosticIdentifierBankB

Admissible Link SCU bank B diagnostics. Used with BaseCyclic.BaseFeedback.scu_fault_bank_b

Canonical

kortex_api.autogen.messages.Base_pb2.LinkSCUDiagnosticIdentifierBankB

LINK_SCU_BANK_B_UNSPECIFIED_DIAGNOSTIC_IDENTIFIER (0):   0x0 - Unspecified Link SCU diagnostic bank B identifier

LINK_SCU_BANK_B_SAFE_COMM_FAILURE_MPU (1):   0x1 - safe comm failure MPU

LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_1_MAIN_MCU (2):   0x2 - safe comm failure joint 1 main MCU

LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_1_SAFETY_MCU (4):   0x4 - safe comm failure joint 1 safety MCU

LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_2_MAIN_MCU (8):   0x8 - safe comm failure joint 2 main MCU

LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_2_SAFETY_MCU (16):   0x10 - safe comm failure joint 2 safety MCU

LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_3_MAIN_MCU (32):   0x20 - safe comm failure joint 3 main MCU

LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_3_SAFETY_MCU (64):   0x40 - safe comm failure joint 3 safety MCU

LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_4_MAIN_MCU (128):   0x80 - safe comm failure joint 4 main MCU

LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_4_SAFETY_MCU (256):   0x100 - safe comm failure joint 4 safety MCU

LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_5_MAIN_MCU (512):   0x200 - safe comm failure joint 5 main MCU

LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_5_SAFETY_MCU (1024):   0x400 - safe comm failure joint 5 safety MCU

LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_6_MAIN_MCU (2048):   0x800 - safe comm failure joint 6 main MCU

LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_6_SAFETY_MCU (4096):   0x1000 - safe comm failure joint 6 safety MCU

LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_7_MAIN_MCU (8192):   0x2000 - safe comm failure joint 7 main MCU

LINK_SCU_BANK_B_SAFE_COMM_FAILURE_JOINT_7_SAFETY_MCU (16384):   0x4000 - safe comm failure joint 7 safety MCU

LINK_SCU_BANK_B_SAFE_COMM_FAILURE_WRIST_MAIN_MCU (32768):   0x8000 - safe comm failure wrist main MCU

LINK_SCU_BANK_B_SAFE_COMM_FAILURE_WRIST_SAFETY_MCU (65536):   0x10000 - safe comm failure wrist safety MCU

LINK_SCU_BANK_B_SAFE_DI_BANK_A_CONFIGURATION_FAILED (131072):   0x20000 - safe DI bank A configuration failed

LINK_SCU_BANK_B_SAFE_DI_BANK_A_SPI_COMMUNICATION_FAILURE (262144):   0x40000 - safe DI bank A SPI communication failure

LINK_SCU_BANK_B_SAFE_DI_BANK_A_FAULT_DETECTED (524288):   0x80000 - safe DI bank A fault detected

LINK_SCU_BANK_B_SAFE_DI_RESERVED_0 (1048576):   0x100000 - safe DI bank A reserved 0

LINK_SCU_BANK_B_SAFE_DI_RESERVED_1 (2097152):   0x200000 - safe DI bank A reserved 1

LINK_SCU_BANK_B_SAFE_DI_RESERVED_2 (4194304):   0x400000 - safe DI bank A reserved 2

LINK_SCU_BANK_B_SAFE_DI_RESERVED_3 (8388608):   0x800000 - safe DI bank A reserved 3

LINK_SCU_BANK_B_SAFE_DI_RESERVED_4 (16777216):   0x1000000 - safe DI bank A reserved 4

LINK_SCU_BANK_B_SAFE_DI_RESERVED_5 (33554432):   0x2000000 - safe DI bank A reserved 5

LINK_SCU_BANK_B_SAFE_DI_RESERVED_6 (67108864):   0x4000000 - safe DI bank A reserved 6

LINK_SCU_BANK_B_SAFE_DI_RESERVED_7 (134217728):   0x8000000 - safe DI bank A reserved 7

class LinkSCUDiagnosticIdentifierBankC

Admissible Link SCU bank C diagnostics. Used with BaseCyclic.BaseFeedback.scu_fault_bank_c

Canonical

kortex_api.autogen.messages.Base_pb2.LinkSCUDiagnosticIdentifierBankC

LINK_SCU_BANK_C_UNSPECIFIED_DIAGNOSTIC_IDENTIFIER (0):   0x0 - Unspecified Link SCU diagnostic bank C identifier

LINK_SCU_BANK_C_SAFE_DI_BANK_B_CONFIGURATION_FAILED (1):   0x1 - safe DI bank B configuration failed

LINK_SCU_BANK_C_SAFE_DI_BANK_B_SPI_COMMUNICATION_FAILURE (2):   0x2 - safe DI bank B SPI communication failure

LINK_SCU_BANK_C_SAFE_DI_BANK_B_FAULT_DETECTED (4):   0x4 - safe DI bank B fault detected

LINK_SCU_BANK_C_ENABLING_DEVICE_OPERATING_MODE_VIOLATION (8):   0x8 - Enabling devices vs. arm operating mode violation detected

LINK_SCU_BANK_C_WRIST_ENABLING_DEVICE_OPERATING_MODE_VIOLATION (16):   0x10 - Wrist enabling device vs. arm operating mode violation detected

LINK_SCU_BANK_C_TCP_POSITION_DISAGREEMENT (32):   0x20 - tcp position disagreement

LINK_SCU_BANK_C_TCP_ORIENTATION_DISAGREEMENT (64):   0x40 - tcp orientation disagreement

LINK_SCU_BANK_C_TCP_TRANSLATION_SPEED_DISAGREEMENT (128):   0x80 - tcp translation speed disagreement

LINK_SCU_BANK_C_TCP_ROTATION_SPEED_DISAGREEMENT (256):   0x100 - tcp rotation speed disagreement

LINK_SCU_BANK_C_TCP_MONITORING_RESERVED_0 (512):   0x200 - tcp monitoring reserved 0

LINK_SCU_BANK_C_TCP_MONITORING_RESERVED_1 (1024):   0x400 - tcp monitoring reserved 1

LINK_SCU_BANK_C_SAFE_DO_BANK_A_CONFIGURATION_FAILED (2048):   0x800 - safe DO bank A configuration failed

LINK_SCU_BANK_C_SAFE_DO_BANK_A_SPI_COMMUNICATION_FAILURE (4096):   0x1000 - safe DO bank A SPI communication failure

LINK_SCU_BANK_C_SAFE_DO_BANK_A_UNDERVOLTAGE_LOCKOUT (8192):   0x2000 - safe DO bank A undervoltage lockout

LINK_SCU_BANK_C_SAFE_DO_BANK_A_CHA_0_FAULT_DETECTED (16384):   0x4000 - safe DO bank A channel 0 fault detected

LINK_SCU_BANK_C_SAFE_DO_BANK_A_CHA_1_FAULT_DETECTED (32768):   0x8000 - safe DO bank A channel 1 fault detected

LINK_SCU_BANK_C_SAFE_DO_BANK_A_CHA_2_FAULT_DETECTED (65536):   0x10000 - safe DO bank A channel 2 fault detected

LINK_SCU_BANK_C_SAFE_DO_BANK_A_CHA_3_FAULT_DETECTED (131072):   0x20000 - safe DO bank A channel 3 fault detected

LINK_SCU_BANK_C_SAFE_DO_BANK_A_CHA_4_FAULT_DETECTED (262144):   0x40000 - safe DO bank A channel 4 fault detected

LINK_SCU_BANK_C_SAFE_DO_BANK_A_CHA_5_FAULT_DETECTED (524288):   0x80000 - safe DO bank A channel 5 fault detected

LINK_SCU_BANK_C_SAFE_DO_BANK_A_CHA_6_FAULT_DETECTED (1048576):   0x100000 - safe DO bank A channel 6 fault detected

LINK_SCU_BANK_C_SAFE_DO_BANK_A_CHA_7_FAULT_DETECTED (2097152):   0x200000 - safe DO bank A channel 7 fault detected

LINK_SCU_BANK_C_SAFE_DO_BANK_B_CONFIGURATION_FAILED (4194304):   0x400000 - safe DO bank B configuration failed

LINK_SCU_BANK_C_SAFE_DO_BANK_B_SPI_COMMUNICATION_FAILURE (8388608):   0x800000 - safe DO bank B SPI communication failure

LINK_SCU_BANK_C_SAFE_DO_BANK_B_UNDERVOLTAGE_LOCKOUT (16777216):   0x1000000 - safe DO bank B undervoltage lockout

LINK_SCU_BANK_C_SAFE_DO_BANK_B_CHA_0_FAULT_DETECTED (33554432):   0x2000000 - safe DO bank B channel 0 fault detected

LINK_SCU_BANK_C_SAFE_DO_BANK_B_CHA_1_FAULT_DETECTED (67108864):   0x4000000 - safe DO bank B channel 1 fault detected

LINK_SCU_BANK_C_SAFE_DO_BANK_B_CHA_2_FAULT_DETECTED (134217728):   0x8000000 - safe DO bank B channel 2 fault detected

LINK_SCU_BANK_C_SAFE_DO_BANK_B_CHA_3_FAULT_DETECTED (268435456):   0x10000000 - safe DO bank B channel 3 fault detected

LINK_SCU_BANK_C_SAFE_DO_BANK_B_CHA_4_FAULT_DETECTED (536870912):   0x20000000 - safe DO bank B channel 4 fault detected

LINK_SCU_BANK_C_SAFE_DO_BANK_B_CHA_5_FAULT_DETECTED (1073741824):   0x40000000 - safe DO bank B channel 5 fault detected

class LinkSCUDiagnosticIdentifierBankD

Admissible Link SCU bank D diagnostics. Used with BaseCyclic.BaseFeedback.scu_fault_bank_d

Canonical

kortex_api.autogen.messages.Base_pb2.LinkSCUDiagnosticIdentifierBankD

LINK_SCU_BANK_D_UNSPECIFIED_DIAGNOSTIC_IDENTIFIER (0):   0x0 - Unspecified Link SCU diagnostic bank D identifier

LINK_SCU_BANK_D_SAFE_DO_BANK_B_CHA_6_FAULT_DETECTED (1):   0x1 - safe DO bank B channel 6 fault detected

LINK_SCU_BANK_D_SAFE_DO_BANK_B_CHA_7_FAULT_DETECTED (2):   0x2 - safe DO bank B channel 7 fault detected

LINK_SCU_BANK_D_FCCU_RESET_OCCURRED (4):   0x4 - FCCU reset occurred

LINK_SCU_BANK_D_SOFTWARE_WATCHDOG_TIMER_RESET_OCCURRED (8):   0x8 - software watchdog timer reset occurred

LINK_SCU_BANK_D_SBC_WATCHDOG_RESET_OCCURRED (16):   0x10 - SBC watchdog reset occurred

LINK_SCU_BANK_D_JOINT_FAULT_DETECTED (32):   0x20 - joint fault detected

LINK_SCU_BANK_D_JOINT_1_POSITION_DISAGREEMENT (64):   0x40 - joint 1 position disagreement

LINK_SCU_BANK_D_JOINT_2_POSITION_DISAGREEMENT (128):   0x80 - joint 2 position disagreement

LINK_SCU_BANK_D_JOINT_3_POSITION_DISAGREEMENT (256):   0x100 - joint 3 position disagreement

LINK_SCU_BANK_D_JOINT_4_POSITION_DISAGREEMENT (512):   0x200 - joint 4 position disagreement

LINK_SCU_BANK_D_JOINT_5_POSITION_DISAGREEMENT (1024):   0x400 - joint 5 position disagreement

LINK_SCU_BANK_D_JOINT_6_POSITION_DISAGREEMENT (2048):   0x800 - joint 6 position disagreement

LINK_SCU_BANK_D_JOINT_7_POSITION_DISAGREEMENT (4096):   0x1000 - joint 7 position disagreement

LINK_SCU_BANK_D_JOINT_1_SPEED_DISAGREEMENT (8192):   0x2000 - joint 1 speed disagreement

LINK_SCU_BANK_D_JOINT_2_SPEED_DISAGREEMENT (16384):   0x4000 - joint 2 speed disagreement

LINK_SCU_BANK_D_JOINT_3_SPEED_DISAGREEMENT (32768):   0x8000 - joint 3 speed disagreement

LINK_SCU_BANK_D_JOINT_4_SPEED_DISAGREEMENT (65536):   0x10000 - joint 4 speed disagreement

LINK_SCU_BANK_D_JOINT_5_SPEED_DISAGREEMENT (131072):   0x20000 - joint 5 speed disagreement

LINK_SCU_BANK_D_JOINT_6_SPEED_DISAGREEMENT (262144):   0x40000 - joint 6 speed disagreement

LINK_SCU_BANK_D_JOINT_7_SPEED_DISAGREEMENT (524288):   0x80000 - joint 7 speed disagreement

LINK_SCU_BANK_D_JOINT_1_TORQUE_DISAGREEMENT (1048576):   0x100000 - joint 1 torque disagreement

LINK_SCU_BANK_D_JOINT_2_TORQUE_DISAGREEMENT (2097152):   0x200000 - joint 2 torque disagreement

LINK_SCU_BANK_D_JOINT_3_TORQUE_DISAGREEMENT (4194304):   0x400000 - joint 3 torque disagreement

LINK_SCU_BANK_D_JOINT_4_TORQUE_DISAGREEMENT (8388608):   0x800000 - joint 4 torque disagreement

LINK_SCU_BANK_D_JOINT_5_TORQUE_DISAGREEMENT (16777216):   0x1000000 - joint 5 torque disagreement

LINK_SCU_BANK_D_JOINT_6_TORQUE_DISAGREEMENT (33554432):   0x2000000 - joint 6 torque disagreement

LINK_SCU_BANK_D_JOINT_7_TORQUE_DISAGREEMENT (67108864):   0x4000000 - joint 7 torque disagreement

LINK_SCU_BANK_D_ARM_POWER_RELAY_A_STUCK (134217728):   0x8000000 - power relay A is stuck

LINK_SCU_BANK_D_ARM_POWER_RELAY_B_STUCK (268435456):   0x10000000 - power relay B is stuck

LINK_SCU_BANK_D_ARM_INRUSH_CURRENT_LIMITER_MOSFET_STUCK (536870912):   0x20000000 - inrush current limiter mosfet circuit is stuck

LINK_SCU_BANK_D_EMERGENCY_STOP_DELAY_CIRCUIT_A_MALFUNCTION (1073741824):   0x40000000 - malfunction detected in Emergency Stop Delay Circuit A

LINK_SCU_BANK_D_EMERGENCY_STOP_DELAY_CIRCUIT_B_MALFUNCTION (-2147483648):   0x80000000 - malfunction detected in Emergency Stop Delay Circuit B

class WrenchMode

Admissible wrench (force) modes

Canonical

kortex_api.autogen.messages.Base_pb2.WrenchMode

UNSPECIFIED_WRENCH_MODE (0):   Unspecified wrench mode

WRENCH_RESTRICTED(1):   Wrench restricted mode (tool motion is authorized only in the direction of the wrench command)

WRENCH_NORMAL(2):   Wrench normal mode (tool motion is authorized in any direction)

class HandGuidingMode

Admissible Hand-Guiding modes

Canonical

kortex_api.autogen.messages.Base_pb2.HandGuidingMode

UNSPECIFIED_HAND_GUIDING_MODE (0):   Unspecified Hand-Guiding mode

CARTESIAN (1):   Cartesian Hand-Guiding mode

JOINT (2):   Joint Hand-Guiding mode

NULL_SPACE (3):   Null space Hand-Guiding mode

DISABLED (4):   No Hand-Guiding

class NavigationDirection

Admissible map navigation directions

Canonical

kortex_api.autogen.messages.Base_pb2.NavigationDirection

UNSPECIFIED_NAVIGATION_DIRECTION (0):   Unspecified navigation direction

NEXT (1):   Go to next map

UP(2):   Go to parent map group (not implemented yet)

DOWN(3):   Go to children map group (not implemented yet)

PREVIOUS (4):   Go to previous map

class JointNavigationDirection

Admissible joint navigation directions

Canonical

kortex_api.autogen.messages.Base_pb2.JointNavigationDirection

UNSPECIFIED_JOINT_NAVIGATION_DIRECTION (0):   Unspecified joint navigation direction

JOINT_NEXT (1):   Go to next joint

JOINT_PREVIOUS (2):   Go to previous joint

class SoundType

Admissible sound types (not implemented yet)

Canonical

kortex_api.autogen.messages.Base_pb2.SoundType

UNSPECIFIED_SOUND_TYPE (0):   Unspecified sound types

BIP_SERIES (1):   Bip series sound type

SINGLE_BIP (2):   Single bin sound type

class XboxOneDigitalInputIdentifier

Admissible XBOXONE digital inputs

Canonical

kortex_api.autogen.messages.Base_pb2.XboxOneDigitalInputIdentifier

UNSPECIFIED_XBOXONE_DIGITAL (0):   Unspecified  digital input

XBOXONE_PAD_UP (1):   Pad up input

XBOXONE_PAD_DOWN (2):   Pad down input

XBOXONE_PAD_LEFT (3):   Pad left input

XBOXONE_PAD_RIGHT (4):   Pad right input

XBOXONE_FILE_BUTTON_START (5):   File button start input

XBOXONE_DOCUMENT_BUTTON_BACK (6):   Document button back input

XBOXONE_LEFT_THUMB_BUTTON (7):   Left thumb button input

XBOXONE_RIGHT_THUMB_BUTTON (8):   Right thumb button input

XBOXONE_LEFT_SHOULDER (9):   Left shoulder input

XBOXONE_RIGHT_SHOULDER (10):   Right shoulder input

XBOXONE_BUTTON_A (13):   Button A input

XBOXONE_BUTTON_B (14):   Button B input

XBOXONE_BUTTON_X (15):   Button X input

XBOXONE_BUTTON_Y (16):   Button Y input

class XboxOneAnalogInputIdentifier

Admissible XBOXONE analog inputs

Canonical

kortex_api.autogen.messages.Base_pb2.XboxOneAnalogInputIdentifier

UNSPECIFIED_XBOXONE_ANALOG (0):   Unspecified analog input

XBOXONE_THUMB_LEFT_X (1):   Thumb left X input

XBOXONE_THUMB_LEFT_Y (2):   Thumb left Y input

XBOXONE_THUMB_RIGHT_X (3):   Thumb right X input

XBOXONE_THUMB_RIGHT_Y (4):   Thumb right Y input

XBOXONE_TRIGGER_LEFT (5):   Trigger left input

XBOXONE_TRIGGER_RIGHT (6):   Trigger right input

class Gen3WristDigitalInputIdentifier

Admissible Gen3 wrist digital inputs

Canonical

kortex_api.autogen.messages.Base_pb2.Gen3WristDigitalInputIdentifier

UNSPECIFIED_WRIST_DIGITAL (0):   Unspecified digital input

WRIST_BUTTON_1 (1):   Button 1 input

WRIST_BUTTON_2 (2):   Button 2 input

WRIST_BUTTON_BOTH (3):   Button 1 + Button 2 combo

class Link6WristDigitalInputIdentifier

Admissible Link 6 wrist digital inputs

Canonical

kortex_api.autogen.messages.Base_pb2.Link6WristDigitalInputIdentifier

UNSPECIFIED_BUTTON (0):   Unspecified digital input

HAND_GUIDING_BUTTON (1):   Hand-Guiding button

SNAPSHOT_BUTTON (2):   Snapshot button

PLUS_BUTTON(3):   "Plus" button (+)

MINUS_BUTTON(4):   "Minus" button (-)

MODE_SELECTION_BUTTON (5):   Mode selection button

class CapSenseMode

Admissible capacitive sensor modes

Canonical

kortex_api.autogen.messages.Base_pb2.CapSenseMode

RESERVED (0):   Reserved, do not use

INACTIVE (1):   Cap sensor is inactive

ACTIVE_AUTO_THRESHOLD (2):   Cap sensor is active in automatic threshold mode

ACTIVE_NOISE_ATT (4):   Cap sensor is active with noise mitigation enabled

ACTIVE_NORMAL (5):   Cap sensor is active in normal mode

CONFIGURATION (6):   Configuration mode

class TrajectoryContinuityMode

Admissible trajectory continuity mode

Canonical

kortex_api.autogen.messages.Base_pb2.TrajectoryContinuityMode

TRAJECTORY_CONTINUITY_MODE_UNSPECIFIED (0):   Unspecified continuity

TRAJECTORY_CONTINUITY_MODE_POSITION (1):   Position continuity only

TRAJECTORY_CONTINUITY_MODE_SPEED (2):   Position and speed continuity

TRAJECTORY_CONTINUITY_MODE_ACCELERATION (3):   Position, speed and acceleration continuity

class TrajectoryErrorType

Trajectory validation error types

Canonical

kortex_api.autogen.messages.Base_pb2.TrajectoryErrorType

TRAJECTORY_ERROR_TYPE_UNSPECIFIED (0):   Unspecified error type

TRAJECTORY_ERROR_TYPE_OUTSIDE_WORKSPACE (1):   The desired pose is outside robot workspace

TRAJECTORY_ERROR_TYPE_ACTUATOR_COUNT_MISMATCH (2):   The provided number of joint values does not match robot's number of actuators

TRAJECTORY_ERROR_TYPE_INVALID_DURATION (3):   The duration exceeds a limit or is invalid

TRAJECTORY_ERROR_TYPE_JOINT_NO_MOTION (4):   The robot's actuators are already at the targeted configuration

TRAJECTORY_ERROR_TYPE_INVALID_JOINT_SPEED (5):   The joint speed exceeds a limit, initial speed does not match current robot speed or is invalid

TRAJECTORY_ERROR_TYPE_INVALID_JOINT_ACCELERATION (7):   The joint acceleration exceeds a limit or is invalid

TRAJECTORY_ERROR_TYPE_INVALID_TIME_STEP (8):   The time step does not match robot time step or is invalid

TRAJECTORY_ERROR_TYPE_INVALID_TRAJECTORY_SIZE (9):   The trajectory size is outside the limits or is invalid

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

TRAJECTORY_ERROR_TYPE_TRAJECTORY_ALREADY_RUNNING (15):   The new trajectory cannot start because another trajectory is being played

TRAJECTORY_ERROR_TYPE_INVALID_CARTESIAN_POSITION (20):   The cartesian position exceeds a limit, initial pose does not match current robot pose or is invalid

TRAJECTORY_ERROR_TYPE_INVALID_CARTESIAN_ORIENTATION (21):   The cartesian orientation exceeds a limit, initial orientation does not match current robot orientation or is invalid

TRAJECTORY_ERROR_TYPE_INVALID_CARTESIAN_LINEAR_VELOCITY (22):   The cartesian linear velocity exceeds a limit or is invalid

TRAJECTORY_ERROR_TYPE_INVALID_CARTESIAN_ANGULAR_VELOCITY (23):   The cartesian angular velocity exceeds a limit or is invalid

TRAJECTORY_ERROR_TYPE_INVALID_JOINT_TORQUE (24):   The joint torque exceeds a limit or is invalid

TRAJECTORY_ERROR_TYPE_MULTIPLE_WAYPOINT_TYPE_LIST(25):   The waypoints in a trajectory must be all of the same type (cartesian or angular)

TRAJECTORY_ERROR_TYPE_INITIAL_WAYPOINT_NO_STOP (26):   The first waypoint must not have blending

TRAJECTORY_ERROR_TYPE_FINAL_WAYPOINT_NO_STOP (27):   The last waypoint must not have blending

TRAJECTORY_ERROR_TYPE_INVALID_BLENDING_RADIUS (28):   The blending radius must be positive and not overlap other blendings or waypoint or is invalid

TRAJECTORY_ERROR_TYPE_INVALID_REFERENCE_FRAME (29):   The reference frame is invalid or not supported

TRAJECTORY_ERROR_TYPE_NUMERICAL_ERROR_IMPOSSIBLE_TRAJECTORY (30):   The conditions (points, velocities) of the trajectory lead to numerical errors that make the computation impossible

TRAJECTORY_ERROR_TYPE_CONTROLLED_STOP_IN_PROGRESS (31):   A controlled stop is in progress

TRAJECTORY_ERROR_TYPE_COMPUTE_FAIL_UNEXPECTED_ERROR (32):   Computation of Waypoint trajectory failed due to an unknown error.

class TrajectoryInfoType

Additional trajectory info type

Canonical

kortex_api.autogen.messages.Base_pb2.TrajectoryInfoType

UNSPECIFIED_TRAJECTORY_INFORMATION (0):   No information provided

JOINT_ACCELERATION_LIMIT_REACHED (1):   Joint acceleration limit reached

JOINT_SPEED_LIMIT_REACHED (2):   Joint speed limit reached

JOINT_POSITION_LIMIT_REACHED (3):   Joint position limit reached

JOINT_TORQUE_LIMIT_REACHED (4):   Joint torque limit reached

SINGULARITY_REGION (5):   The arm is inside a singularity region

INVERSE_KINEMATIC_FAILED (6):   The inverse kinematic calculation has failed

CARTESIAN_ACCELERATION_LIMIT_REACHED (7):   Cartesian acceleration limit reached

CARTESIAN_SPEED_LIMIT_REACHED (8):   Cartesian speed limit reached

CARTESIAN_POSITION_LIMIT_REACHED (9):   Cartesian position limit reached

CARTESIAN_WRENCH_LIMIT_REACHED (10):   Cartesian torque limit reached

ENTERING_PROTECTION_ZONE (11):   The arm is entering a protection zone

WAYPOINT_REACHED (12):   Waypoint reached

TRAJECTORY_OK (13):   There is more trajectory notification

class EnablingDeviceEvent

Enabling device event type

Canonical

kortex_api.autogen.messages.Base_pb2.EnablingDeviceEvent

UNSPECIFIED_ENABLING_DEVICE_EVENT (0):   No enabling device event

ENABLING_DEVICE_PRESSED (1):   The enabling device has been pressed

ENABLING_DEVICE_RELEASED (2):   The enabling device has been released

class EnablingDeviceType

Enabling device type

Canonical

kortex_api.autogen.messages.Base_pb2.EnablingDeviceType

UNSPECIFIED_ENABLING_DEVICE_TYPE (0):   Unspecified enabling device

WRIST_ENABLING_DEVICE (1):   Wrist enabling device

TEACH_PENDANT_ENABLING_DEVICE (2):   Teach pendant enabling device

SAFETY_INPUT_ENABLING_DEVICE (3):   Safety input enabling device

class InverseKinematicsEventType

Inverse kinematics event type

Canonical

kortex_api.autogen.messages.Base_pb2.InverseKinematicsEventType

UNSPECIFIED_IK_EVENT (0):   Unspecified inverse kinematics event

IK_SOLUTION_NOT_FOUND (1):   Inverse kinematic solution event

IK_SINGULARITY_REGION (2):   Arm is in a singularity region event

class JointLimitEventType

Joint limit event type

Canonical

kortex_api.autogen.messages.Base_pb2.JointLimitEventType

UNSPECIFIED_JOINT_LIMIT_EVENT (0):   Unspecified joint limit event

JOINT_LIMIT_ACCELERATION (1):   Joint acceleration limit reached

JOINT_LIMIT_SPEED (2):   Joint speed limit reached

JOINT_LIMIT_POSITION (3):   Joint position limit reached

JOINT_LIMIT_POSITION_TOWARDS_LIMITS (4):   Joint moving toward joint position limits

JOINT_LIMIT_TORQUE (5):   Joint torque limit reached

JOINT_LIMIT_ACCELERATION_SATURATED (6):   Joint acceleration saturated

JOINT_LIMIT_SPEED_SATURATED (7):   Joint speed saturated

JOINT_LIMIT_POSITION_SATURATED (8):   Joint position saturated

JOINT_LIMIT_TRACKING_ERROR (9):   Joint position tracking error has exceeded the configured robot joint position tracking error limit

class ProtectionZoneEventType

Protection zone event type

Canonical

kortex_api.autogen.messages.Base_pb2.ProtectionZoneEventType

UNSPECIFIED_PROTECTION_ZONE_EVENT (0):   Unspecified protection zone event

PROTECTION_ZONE_INSIDE_REDUCED_SPEED_ZONE (1):   The tool or the arm has entered a reduced speed zone

PROTECTION_ZONE_INSIDE_STOP_ZONE(2):   The tool or the arm has entered in a protection zone (stopping)

class ProtectionZoneElementType

Protection zone element type

Canonical

kortex_api.autogen.messages.Base_pb2.ProtectionZoneElementType

UNSPECIFIED_PROTECTION_ZONE_ELEMENT (0):   Unspecified protection zone element type

PROTECTION_ZONE_ELEMENT_TOOL (1):   The tool has triggered the protection zone event

PROTECTION_ZONE_ELEMENT_ARM (2):   The arm has triggered the protection zone event

class CollisionEventType

Collision event type

Canonical

kortex_api.autogen.messages.Base_pb2.CollisionEventType

UNSPECIFIED_COLLISION_EVENT (0):   Unspecified collision event type

COLLISION_DETECTED_EVENT (1):   A Collision has been detected on one or many joints

SELF_COLLISION_PREVENTED_EVENT (2):   A self collision between two joints has been prevented

class CartesianLimitEventType

Cartesian limit event type

Canonical

kortex_api.autogen.messages.Base_pb2.CartesianLimitEventType

UNSPECIFIED_CARTESIAN_LIMIT_EVENT (0):   Unspecified cartesian limit event

TOOL_LINEAR_VELOCITY_LIMIT (1):   Tool linear velocity limit reached

TOOL_ANGULAR_VELOCITY_LIMIT (2):   Tool angular velocity limit reached

ELBOW_LINEAR_VELOCITY_LIMIT (3):   Elbow linear velocity limit reached

TOOL_LINEAR_VELOCITY_SATURATED (4):   Tool linear velocity saturated

TOOL_ANGULAR_VELOCITY_SATURATED (5):   Tool angular velocity saturated

ELBOW_LINEAR_VELOCITY_SATURATED (6):   Elbow linear velocity saturated

class ProgramRequestEventType

Program request event type

Canonical

kortex_api.autogen.messages.Base_pb2.ProgramRequestEventType

PROGRAM_REQUEST_UNSPECIFIED (0):   Unspecified program request

PROGRAM_REQUEST_PAUSE (1):   Program request pause

PROGRAM_REQUEST_RESUME (2):   Program request resume

PROGRAM_REQUEST_STOP (3):   Program request stop

PROGRAM_REQUEST_PAUSE_AUTOMATIC_RESUME (4):   Program request pause with automatic resume

class AcknowledgeActionEvent

Acknowledge action event type

Canonical

kortex_api.autogen.messages.Base_pb2.AcknowledgeActionEvent

UNSPECIFIED_ACKNOWLEDGE_ACTION_EVENT (0):   No acknowledge action event

ACKNOWLEDGE_ACTION_OCCURRED (1):   Acknowledge action occurred