ControlConfig

class ServiceVersion

Identifies ControlConfig current version

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.ServiceVersion

RESERVED_0 (0):   Reserved

CURRENT_VERSION (1):   Current version

class ControlConfigurationEvent

Admissible control configuration events

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.ControlConfigurationEvent

UNSPECIFIED_CONTROL_CONFIGURATION_EVENT (0):   Unspecified control configuration event

ANGLE_UNIT_CHANGED (1):   Angle unit changed event

GRAVITY_VECTOR_CHANGED (2):   Gravity vector changed event

JOINT_HAND_GUIDING_CONFIGURATION_CHANGED (4):   Joint Hand-Guiding configuration changed event

NULL_HAND_GUIDING_CONFIGURATION_CHANGED (5):   Null Hand-Guiding configuration changed event

CARTESIAN_HAND_GUIDING_CONFIGURATION_CHANGED (6):   Cartesian Hand-Guiding configuration changed event

JOINT_TORQUE_HYBRID_CONFIGURATION_CHANGED (7):   Joint torque hybrid configuraiton changed event

WRENCH_COMMAND_NORMAL_CONFIGURATION_CHANGED (8):   Wrench commmand normal configuration changed event

WRENCH_COMMAND_RESTRICTED_CONFIGURATION_CHANGED (9):   Wrench command restricted configuration changed event

CONTROL_CONFIGURATION_FACTORY_RESTORED (10):   Control configuration factory restored event

TOOL_CONFIGURATION_CHANGED (11):   Tool configuration event

PAYLOAD_CONFIGURATION_CHANGED (12):   Payload configuration event

CARTESIAN_REFERENCE_CHANGED (13):   Cartesian reference event

CHANGE_CONTROL_MODE_FAILED (14):   Control mode change fail event

LOCKED_CARTESIAN_AXIS_CHANGED (15):   Locked Cartesian axis event

JOINT_SPEED_SOFT_LIMITS_CHANGED (16):   Joint speed software limits changed event

TWIST_LINEAR_SOFT_LIMIT_CHANGED (17):   Linear speed software limit changed event

TWIST_ANGULAR_SOFT_LIMIT_CHANGED (18):   Angular speed software limit changed event

JOINT_ACCELERATION_SOFT_LIMITS_CHANGED (19):   Joint acceleration software limits changed event

DESIRED_TWIST_LINEAR_SPEED_CHANGED (20):   Desired joystick twist linear speed changed event

DESIRED_TWIST_ANGULAR_SPEED_CHANGED (21):   Desired joystick twist angular speed changed event

DESIRED_JOINT_SPEED_CHANGED (22):   Desired joystick joint speed changed event

JOINT_POSITION_SOFT_LIMITS_CHANGED (23):   Joint position software limits changed event

ELBOW_LINEAR_SOFT_LIMIT_CHANGED (24):   Linear elbow speed software limit changed event

ZERO_EXTERNAL_WRENCH_FROM_FT_SENSOR_APPLIED (25):   Zero external wrench from force torque sensor applied event

TCP_TRANSLATION_SPEED_SATURATION_CHANGED (26):   Tcp translation speed saturation changed event

COLLISION_DETECTION_LIMITS_CONFIGURATION_CHANGED (27):   Collision detection limits configuration changed event

ENERGY_LIMITS_CONFIGURATION_CHANGED (28):   Energy limits configuration changed event

class ControlMode

Admissible robot control modes

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.ControlMode

UNSPECIFIED_CONTROL_MODE (0):   Unspecified control mode

ANGULAR_JOYSTICK (1):   Angular joystick mode

CARTESIAN_JOYSTICK (2):   Cartesian joystick mode

ANGULAR_TRAJECTORY (4):   Angular trajectory mode

CARTESIAN_TRAJECTORY (5):   Cartesian trajectory mode

CARTESIAN_HAND_GUIDING (6):   Cartesian Hand-Guiding mode

JOINT_HAND_GUIDING (7):   Joint Hand-Guiding mode

NULL_SPACE_HAND_GUIDING (8):   Null space mode

JOINT_WAYPOINT_TRAJECTORY (9):   Joint waypoint trajectory mode

FORCE_CONTROL (10):   Force control mode

FORCE_CONTROL_MOTION_RESTRICTED (11):   Force control motion restricted mode

CARTESIAN_WAYPOINT_TRAJECTORY (12):   Cartesian waypoint trajectory mode

IDLE (13):   Idle

class ControlModeReportType

Control mode report type

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.ControlModeReportType

UNSPECIFIED_CONTROL_MODE_REPORT_TYPE (0):   Unspecified control mode report type

CONTROL_MODE_REPORT_OUTSIDE_WORKSPACE (1):   The arm is outside of the workspace of the new control mode

CONTROL_MODE_REPORT_STOPPING (2):   The robot is in the process of stopping

CONTROL_MODE_REPORT_CLOSE_TO_SINGULARITY (3):   The arm is close to a singularity

CONTROL_MODE_REPORT_INVALID_FORCE_TORQUE_DATA (4):   Force torque data is invalid. This might be caused by the absence or a malfunction of the force torque sensor

class CollisionSensingActivationMode

Collision sensing activation mode (deprecated)

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.CollisionSensingActivationMode

COLLISION_SENSING_ACTIVATION_MODE_UNSPECIFIED (0):   Unspecified collision sensing activation mode

COLLISION_SENSING_ACTIVATION_MODE_DISABLED (1):   Collision sensing disabled

COLLISION_SENSING_ACTIVATION_MODE_REDUCED_ONLY (2):   Collision sensing enabled only in reduced mode

COLLISION_SENSING_ACTIVATION_MODE_ENABLED (3):   Collision sensing enabled