Base

class ArmCalibrationStatus

Arm calibration status

Canonical

kortex_api.autogen.messages.Base_pb2.ArmCalibrationStatus

Parameters

status (ArmCalibrationStatusType) – Arm calibration status

class ArmCalibrationStatusChangeNotification

Arm calibration status change notification

Canonical

kortex_api.autogen.messages.Base_pb2.ArmCalibrationStatusChangeNotification

Parameters
class FSReadArgs

File system read argument

Canonical

kortex_api.autogen.messages.Base_pb2.FSReadArgs

Parameters

  • path (FSPath) – File path

  • offset (int) – Byte offset from beginning of file.

  • len (int) – Number of bytes to read.

class FSReadData

File system read data

Canonical

kortex_api.autogen.messages.Base_pb2.FSReadData

Parameters

data (bytes) – Data to read

class FSWriteArgs

File system write argument

Canonical

kortex_api.autogen.messages.Base_pb2.FSWriteArgs

Parameters

  • path (FSPath) – File path

  • append (bool) – Append data to end of file if true. File is replaced if false. False by default.

  • data (bytes) – Data to write.

class FSListArgs

File system list argument

Canonical

kortex_api.autogen.messages.Base_pb2.FSListArgs

Parameters

  • path (FSPath) – File path

  • recursive (bool) – Perform recursive listing (default to false)

  • extension (str) – File extension filter (default all extensions).

class FullUserProfile

Information about a user, together with a password. Full set of information needed to create a user profile.

Canonical

kortex_api.autogen.messages.Base_pb2.FullUserProfile

Parameters

  • user_profile (UserProfile) – Information about the user, including its username.

  • password (str) – User’s password

class UserProfile

Information about a user

Canonical

kortex_api.autogen.messages.Base_pb2.UserProfile

Parameters

  • handle (UserProfileHandle) – User handle (no need to set it with CreateUserProfile())

  • username (str) – Username, which is used to connect to robot (or login via Web App)

  • firstname (str) – User’s first name

  • lastname (str) – User’s last name

  • application_data (str) – Application data (reserved for use by Web App)

  • roles (UserRole [ ]) – User roles (read only)

class UserProfileList

Array of user profiles

Canonical

kortex_api.autogen.messages.Base_pb2.UserProfileList

Parameters

user_profiles (UserProfile [ ]) – User profile

class UserList

Array of user profile handles

Canonical

kortex_api.autogen.messages.Base_pb2.UserList

Parameters

user_handles (UserProfileHandle [ ]) – User handle

class PasswordChange

Information required to change user password

Canonical

kortex_api.autogen.messages.Base_pb2.PasswordChange

Parameters

  • handle (UserProfileHandle) – User handle

  • old_password (str) – Current password

  • new_password (str) – New password

class ActionHandle

Reference to a specific action

Canonical

kortex_api.autogen.messages.Base_pb2.ActionHandle

Parameters

  • identifier (int) – Action identifier

  • action_type (ActionType) – Action type

  • permission (int) – Permission of specified Action entity. Must use ‘Kinova.Api.Common.Permission’ enum.

class RequestedActionType

Message used for requesting all action instances of a specific action type

Canonical

kortex_api.autogen.messages.Base_pb2.RequestedActionType

Parameters

action_type (ActionType) – Action type

class Action

Defines an action. An action is some task performed on the robot.

Canonical

kortex_api.autogen.messages.Base_pb2.Action

Parameters

  • handle (ActionHandle) – Reference to the action (useful when updating an existing action)

  • name (str) – Action friendly name

  • application_data (str) – Application data (reserved for use by Web App)

  • send_twist_command (TwistCommand) – Control the tool in velocity. Part of the action_parameters Oneof.

  • send_joint_speeds (JointSpeeds) –

    Action to control each joint speed. Part of the action_parameters Oneof.

  • toggle_hand_guiding_mode (HandGuidingMode) –

    Enable or disable the Hand-Guiding mode. Part of the action_parameters Oneof.

  • switch_control_mapping (SwitchControlMapping) –

    Switch the active controller map. Part of the action_parameters Oneof.

  • navigate_joints (JointNavigationDirection) –

    Select the next actuator to control in a map. Part of the action_parameters Oneof.

  • navigate_mappings (NavigationDirection) –

    Select a different map. Part of the action_parameters Oneof.

  • change_twist (ChangeTwist) –

    Change tool twist. Part of the action_parameters Oneof.

  • change_joint_speeds (ChangeJointSpeeds) –

    Change the joint speeds individually. Part of the action_parameters Oneof.

  • apply_quick_stop (QuickStop) –

    Apply robot quick stop. Part of the action_parameters Oneof.

  • clear_faults (Faults) –

    Clear faults. Robot will be able to move if there is no more fault (see BaseCyclic.BaseFeedback.[fault_bank_a | fault_bank_b]). Part of the action_parameters Oneof.

  • execute_action (ActionHandle) –

    Execute an existing action. Part of the action_parameters Oneof.

  • stop_action (Stop) –

    Stop movement. Part of the action_parameters Oneof.

  • play_pre_computed_trajectory (PreComputedJointTrajectory) –

    Play a pre-computed joint trajectory. Part of the action_parameters Oneof.

  • execute_waypoint_list (WaypointList) –

    Execute a trajectory defined by a series of waypoints. Part of the action_parameters Oneof.

  • change_payload_parameters (ChangePayloadParameters) –

    Change payload parameters. Part of the action_parameters Oneof.

class SwitchControlMapping

Action parameter to switch the active controller map

Canonical

kortex_api.autogen.messages.Base_pb2.SwitchControlMapping

Parameters

  • controller_identifier (int) – Identifier of the controller for which changing the active map is requested

  • map_group_handle (MapGroupHandle) – Reference to the map group for which the active map needs to change

  • map_handle (MapHandle) – Reference to new active map

class ChangePayloadParameters

Action to change the payload parameters

Canonical

kortex_api.autogen.messages.Base_pb2.ChangePayloadParameters

Parameters

  • mass (float) – Payload mass in kilogram

  • inertia (SymmetricMatrix3x3) – Payload inertia in kilogram square meter

  • center_of_mass (CartesianVector) – Payload center of mass in meter

class ChangeTwist

Action to change the maximum Cartesian velocity by a specific increment

Canonical

kortex_api.autogen.messages.Base_pb2.ChangeTwist

Parameters

  • linear (float) – Linear Cartesian velocity increment (in meters per second)

  • angular (float) – Angular Cartesian velocity increment (in degrees per second)

class ChangeJointSpeeds

Action to change the maximum angular velocity per joint by a specific increment

Canonical

kortex_api.autogen.messages.Base_pb2.ChangeJointSpeeds

Parameters

joint_speeds (JointSpeeds) – Joint speeds

class QuickStop

Action to force a quick stop of the robot

Canonical

kortex_api.autogen.messages.Base_pb2.QuickStop

class Faults

Action to clear faults

Canonical

kortex_api.autogen.messages.Base_pb2.Faults

class Stop

Action to stop robot movement This message is deprecated and will be removed in a future release.

Canonical

kortex_api.autogen.messages.Base_pb2.Stop

class ActionList

Array of actions

Canonical

kortex_api.autogen.messages.Base_pb2.ActionList

Parameters

action_list (Action [ ]) – Action

class Ssid

Wi-Fi SSID

Canonical

kortex_api.autogen.messages.Base_pb2.Ssid

Parameters

identifier (str) – Wi-Fi Service Set Identifier

class CommunicationInterfaceConfiguration

Configuration information for enabling or disabling a specific communication interface (e.g. Wi-Fi, Wired Ethernet) This message may be removed in a future release. It has been moved to Network service.

Canonical

kortex_api.autogen.messages.Base_pb2.CommunicationInterfaceConfiguration

Parameters

  • type (NetworkType) – Network type (e.g. Wi-Fi, Wired Ethernet)

  • enable (bool) – Enable configuration. Set to true to enable network, false otherwise

class NetworkHandle

Reference to a network This is used in various RPC calls. Will be moved out of base.proto eventually.

Canonical

kortex_api.autogen.messages.Base_pb2.NetworkHandle

Parameters

type (NetworkType) – Network type

class IPv4Configuration

IPv4 configuration information This message may be removed in a future release. It has been moved to Network service.

Canonical

kortex_api.autogen.messages.Base_pb2.IPv4Configuration

Parameters

  • ip_address (int) – IPv4 address

  • subnet_mask (int) – IPv4 subnet mask

  • default_gateway (int) – Gateway IPv4 address

  • dhcp_enabled (bool) – Enable automatic (DHCP) IPv4 configuration. Set to true to enable DHCP instead of static configuration.

class IPv4Information

Information about an IPv4 endpoint This message may be removed in a future release. It has been moved to Network service.

Canonical

kortex_api.autogen.messages.Base_pb2.IPv4Information

Parameters

  • ip_address (int) – IPv4 address

  • subnet_mask (int) – IPv4 subnet mask

  • default_gateway (int) – Gateway IPv4 address

class FullIPv4Configuration

IPv4 configuration for a specific network This message may be removed in a future release. It has been moved to Network service.

Canonical

kortex_api.autogen.messages.Base_pb2.FullIPv4Configuration

Parameters
class WifiInformation

Information about a specific Wi-Fi network This message may be removed in a future release. It has been moved to Network service.

Canonical

kortex_api.autogen.messages.Base_pb2.WifiInformation

Parameters

  • ssid (Ssid) – SSID

  • security_type (int) – Wi-Fi security type

  • encryption_type (int) – Wi-Fi encryption type

  • signal_quality (SignalQuality) – Wi-Fi signal quality

  • signal_strength (int) – Wi-Fi signal power in dBm

  • frequency (int) – Wi-Fi operating frequency (channel) in MHz

  • channel (int) – Wi-Fi operating channel

class WifiInformationList

Array of information about different Wi-Fi networks This message may be removed in a future release. It has been moved to Network service.

Canonical

kortex_api.autogen.messages.Base_pb2.WifiInformationList

Parameters

wifi_information_list (WifiInformation [ ]) – Wi-Fi information

class WifiConfiguration

Wi-Fi connection configuration This message may be removed in a future release. It has been moved to Network service.

Canonical

kortex_api.autogen.messages.Base_pb2.WifiConfiguration

Parameters

  • ssid (Ssid) – SSID

  • security_key (str) – Security key to used when connecting to Wi-Fi network

  • connect_automatically (bool) – Connection mode. Set to true so robot automatically connects to this Wi-Fi network at bootup, false otherwise

class WifiConfigurationList

Array of Wi-Fi connection configuration for different networks This message may be removed in a future release. It has been moved to Network service.

Canonical

kortex_api.autogen.messages.Base_pb2.WifiConfigurationList

Parameters

wifi_configuration_list (WifiConfiguration [ ]) – Wi-Fi configurations

class RotationMatrixRow

This message will be removed in a future release. It has been moved to Common service.

Canonical

kortex_api.autogen.messages.Base_pb2.RotationMatrixRow

Parameters

  • column1 (float) – Value between -1.0 and 1.0

  • column2 (float) – Value between -1.0 and 1.0

  • column3 (float) – Value between -1.0 and 1.0

class RotationMatrix

This message will be removed in a future release. It has been moved to Common service.

Canonical

kortex_api.autogen.messages.Base_pb2.RotationMatrix

Parameters
class ConfigurationChangeNotification

Representation of a configuration change event

Canonical

kortex_api.autogen.messages.Base_pb2.ConfigurationChangeNotification

Parameters

  • event (ConfigurationNotificationEvent) – Configuration event

  • generic_info (NotificationInformation) – Generic notification information

  • action_handle (ActionHandle) –

    Action for which the configuration changed. Part of the configuration_change Oneof.

  • mapping_handle (MappingHandle) –

    Mapping for which the configuration changed. Part of the configuration_change Oneof.

  • map_group_handle (MapGroupHandle) –

    Map group for which the configuration changed. Part of the configuration_change Oneof.

  • map_handle (MapHandle) –

    Map for which the configuration changed. Part of the configuration_change Oneof.

  • user_profile_handle (UserProfileHandle) –

    User Profile for which the configuration changed. Part of the configuration_change Oneof.

  • diagnostic_handle (DiagnosticHandle) –

    Diagnostic for which the configuration changed. Part of the configuration_change Oneof.

  • network_handle (NetworkHandle) –

    Network element for which the configuration changed. Part of the configuration_change Oneof.

  • ssid (Ssid) –

    Wi-Fi instance for which the configuration changed. Part of the configuration_change Oneof.

  • controller_handle (ControllerHandle) –

    Controller instance for which the configuration changed. Part of the configuration_change Oneof.

class ServoingModeInformation

Information about the servoing mode

Canonical

kortex_api.autogen.messages.Base_pb2.ServoingModeInformation

Parameters

servoing_mode (ServoingMode) – Servoing mode

class UpdatingModeInformation

Information about the updating mode

Canonical

kortex_api.autogen.messages.Base_pb2.UpdatingModeInformation

Parameters

  • updating_mode (UpdatingMode) – Updating mode

  • device_handle (DeviceHandle) – Device matching updating mode (if applicable)

  • local_file_uid (FileId) – Local file unique identifier (optional)

class OperatingModeNotification

Notification when the operating mode has changed

Canonical

kortex_api.autogen.messages.Base_pb2.OperatingModeNotification

Parameters
class UpdatingModeNotification

Notification about a single updating mode event

Canonical

kortex_api.autogen.messages.Base_pb2.UpdatingModeNotification

Parameters
class ServoingModeNotification

Notification about a single servoing mode event

Canonical

kortex_api.autogen.messages.Base_pb2.ServoingModeNotification

Parameters
class ControllerHandle

Reference to a specific controller device

Canonical

kortex_api.autogen.messages.Base_pb2.ControllerHandle

Parameters

  • type (ControllerType) – Controller device type

  • controller_identifier (int) – Controller device identifier

class ControllerElementHandle

Reference ro a specific button (or axis) of a controller device

Canonical

kortex_api.autogen.messages.Base_pb2.ControllerElementHandle

Parameters

  • controller_handle (ControllerHandle) – Controller handle

  • button (int) –

    Button identifier (only set if ‘button’ controller event, otherwise zero). Part of the identifier Oneof.

  • axis (int) –

    Axis identifier (only set if ‘axis’ controller event, otherwise zero). Part of the identifier Oneof.

class ControllerNotification

Notification about a single controller event

Canonical

kortex_api.autogen.messages.Base_pb2.ControllerNotification

Parameters

  • generic_info (NotificationInformation) – Generic notification information

  • controller_state (ControllerState) –

    Used to indicate if a controller connection or disconnection event occured. Part of the state Oneof.

  • controller_element (ControllerElementState) –

    Used to indicate if a specific button (or axis) was pressed (or moved). Part of the state Oneof.

class ControllerList

Array of references to different controllers

Canonical

kortex_api.autogen.messages.Base_pb2.ControllerList

Parameters

handles (ControllerHandle [ ]) – Controller handle

class ControllerState

Indicates if a specific controller is connected (or disconnected)

Canonical

kortex_api.autogen.messages.Base_pb2.ControllerState

Parameters
class ControllerElementState

Indicates if a specific button (or axis) was pressed (or moved)

Canonical

kortex_api.autogen.messages.Base_pb2.ControllerElementState

Parameters

  • handle (ControllerElementHandle) – Controller element handle

  • event_type (ControllerElementEventType) – Type of controller element event that occured

  • axis_value (float) – Axis value (set between -1.0 and 1.0); only set if ‘axis’ controller element, otherwise set to zero

class ActionNotification

Notification about a single action event

Canonical

kortex_api.autogen.messages.Base_pb2.ActionNotification

Parameters

  • action_event (ActionEvent) – Action event type

  • handle (ActionHandle) – Identifies the action for which this event occured

  • abort_details (SubErrorCodes) – Details if action_event is equal to ACTION_ABORT

  • trajectory_info (TrajectoryInfo [ ]) – Additional information from the current action

  • generic_info (NotificationInformation) – Generic notification information

class TrajectoryInfo

Additional trajectory information

Canonical

kortex_api.autogen.messages.Base_pb2.TrajectoryInfo

Parameters

  • trajectory_info_type (TrajectoryInfoType) – Trajectory information type

  • waypoint_index (int) – Waypoint index (if applicable)

  • joint_index (int) – Joint index (if applicable)

class RobotEventNotification

Notification about a single robot event

Canonical

kortex_api.autogen.messages.Base_pb2.RobotEventNotification

Parameters
class FactoryNotification

Notification about a single factory event

Canonical

kortex_api.autogen.messages.Base_pb2.FactoryNotification

Parameters
class ConfigurationChangeNotificationList

Array of configuration change notifications

Canonical

kortex_api.autogen.messages.Base_pb2.ConfigurationChangeNotificationList

Parameters

notifications (ConfigurationChangeNotification [ ]) – Notification

class OperatingModeNotificationList

Array of operating mode notifications This message will be removed in a future release. It has been renamed UpdatingModeNotificationList.

Canonical

kortex_api.autogen.messages.Base_pb2.OperatingModeNotificationList

Parameters

notifications (OperatingModeNotification [ ]) – Notification

class UpdatingModeNotificationList

Array of updating mode notifications

Canonical

kortex_api.autogen.messages.Base_pb2.UpdatingModeNotificationList

Parameters

notifications (UpdatingModeNotification [ ]) – Notification

class ServoingModeNotificationList

Array of servoing mode notifications

Canonical

kortex_api.autogen.messages.Base_pb2.ServoingModeNotificationList

Parameters

notifications (ServoingModeNotification [ ]) – Notification

class DiagnosticNotificationList

Array of diagnostic notifications

Canonical

kortex_api.autogen.messages.Base_pb2.DiagnosticNotificationList

Parameters

notifications (DiagnosticNotification [ ]) – Notification

class ControllerNotificationList

Array of controller notifications

Canonical

kortex_api.autogen.messages.Base_pb2.ControllerNotificationList

Parameters

notifications (ControllerNotification [ ]) – Notifications

class ActionNotificationList

Array of action notifications

Canonical

kortex_api.autogen.messages.Base_pb2.ActionNotificationList

Parameters

notifications (ActionNotification [ ]) – Notification

class RobotEventNotificationList

Array of robot event notifications

Canonical

kortex_api.autogen.messages.Base_pb2.RobotEventNotificationList

Parameters

notifications (RobotEventNotification [ ]) – Notification

class MappingHandle

Reference to a specific Mapping

Canonical

kortex_api.autogen.messages.Base_pb2.MappingHandle

Parameters

  • identifier (int) – Mapping identifier

  • permission (int) – Permission of specified mapping entity. Must use ‘Kinova.Api.Common.Permission’ enum.

class ControllerEvent

A controller event

Canonical

kortex_api.autogen.messages.Base_pb2.ControllerEvent

Parameters

  • input_type (ControllerInputType) – Type of controller input that caused the event_identifier

  • behavior (ControllerBehavior) – Controller behavior that occured

  • input_identifier (int) – Controller input that caused the event

class GpioEvent

A GPIO event

Canonical

kortex_api.autogen.messages.Base_pb2.GpioEvent

Parameters

  • input_type (ControllerInputType) – Type of controller input that caused the event_identifier

  • input_identifier (int) – GPIO PIN ID that caused the event

class MapEvent

A map event

Canonical

kortex_api.autogen.messages.Base_pb2.MapEvent

Parameters

  • name (str) – Map event friendly name

  • gpio_event (GpioEvent) –

    Mapped GPIO event. Part of the events Oneof.

  • controller_event (ControllerEvent) –

    Mapped controller event. Part of the events Oneof.

class MapElement

Associates an event to an action

Canonical

kortex_api.autogen.messages.Base_pb2.MapElement

Parameters

  • event (MapEvent) – Map event that occured

  • action (Action) – Action to invoke upon event occurence

  • name (str) – Map element friendly name

class Map

A map as an array of map elements

Canonical

kortex_api.autogen.messages.Base_pb2.Map

Parameters

  • handle (MapHandle) – Map handle (do not set on createMap() call)

  • name (str) – Map friendly name

  • elements (MapElement [ ]) – Array of map elements

class MapHandle

Reference to a specific map

Canonical

kortex_api.autogen.messages.Base_pb2.MapHandle

Parameters

  • identifier (int) – Identifier

  • permission (int) – Permission of specified map entity. Must use ‘Kinova.Api.Common.Permission’ enum.

class MapGroupHandle

Reference to a specific map group (not implemented yet)

Canonical

kortex_api.autogen.messages.Base_pb2.MapGroupHandle

Parameters

  • identifier (int) – Identifier

  • permission (int) – Permission of specified map group entity. Must use ‘Kinova.Api.Common.Permission’ enum.

class MapGroup

All information about a map group including the list of maps that it contains and its relationship versus other map groups (not implemented yet)

Canonical

kortex_api.autogen.messages.Base_pb2.MapGroup

Parameters

  • group_handle (MapGroupHandle) – Map group handle (do not set on createMapGroup() call)

  • name (str) – Map group friendly name

  • related_mapping_handle (MappingHandle) – Mapping that this map group belongs to

  • parent_group_handle (MapGroupHandle) – Parent map group (if any)

  • children_map_group_handles (MapGroupHandle [ ]) – Children map groups (if any)

  • map_handles (MapHandle [ ]) – Array of maps that are included in this map group

  • application_data (str) – Application data (reserved for use by Web App)

class MapGroupList

Array of map groups (not implemented yet)

Canonical

kortex_api.autogen.messages.Base_pb2.MapGroupList

Parameters

map_groups (MapGroup [ ]) – Map group

class Mapping

All information about a mapping including the controller to which it is associated, the array of map groups it contains, the currently active map group, the array of maps it contains and the currently active map

Canonical

kortex_api.autogen.messages.Base_pb2.Mapping

Parameters

  • handle (MappingHandle) – Mapping handle (do not set on createMapping() call)

  • name (str) – Mapping friendly name

  • controller_identifier (int) – Associated controller identifier

  • active_map_group_handle (MapGroupHandle) – Currently active map group (not implemented yet)

  • map_group_handles (MapGroupHandle [ ]) – Array of associated map groups (not implemented yet)

  • active_map_handle (MapHandle) – Currently active map

  • map_handles (MapHandle [ ]) – Array of associated maps

  • application_data (str) – Application data (reserved for use by Web App)

class Pose

A Cartesian tool pose (position and orientation). Orientation is defined as a sequence of three Euler angles using x-y-z Tait-Bryan extrinsic convention. That is, rotation around fixed X-axis, then rotation around fixed Y-axis, then rotation around fixed Z-axis.

Canonical

kortex_api.autogen.messages.Base_pb2.Pose

Parameters

  • x (float) – X position (in meters)

  • y (float) – Y position (in meters)

  • z (float) – Z position (in meters)

  • theta_x (float) – Theta X orientation (in degrees)

  • theta_y (float) – Theta Y orienation (in degrees)

  • theta_z (float) – Theta Z orientation (in degrees)

class Wrench

A wrench (force and torque)

Canonical

kortex_api.autogen.messages.Base_pb2.Wrench

Parameters

  • force_x (float) – Linear X force (Newtons or ratio between -1.0 and 1.0 if used with Joystick command)

  • force_y (float) – Linear Y force (Newtons or ratio between -1.0 and 1.0 if used with Joystick command)

  • force_z (float) – Linear Z force (Newtons or ratio between -1.0 and 1.0 if used with Joystick command)

  • torque_x (float) – Angular X torque (Newton-meters or ratio between -1.0 and 1.0 if used with Joystick command)

  • torque_y (float) – Angular Y torque (Newton-meters or ratio between -1.0 and 1.0 if used with Joystick command)

  • torque_z (float) – Angular Z torque (Newton-meters or ratio between -1.0 and 1.0 if used with Joystick command)

class Twist

A twist (linear and angular velocity).

Canonical

kortex_api.autogen.messages.Base_pb2.Twist

Parameters

  • linear_x (float) – Linear X velocity (m/s or ratio between -1.0 and 1.0 if used with joystick command)

  • linear_y (float) – Linear Y velocity (m/s or ratio between -1.0 and 1.0 if used with joystick command)

  • linear_z (float) – Linear Z velocity (m/s or ratio between -1.0 and 1.0 if used with joystick command)

  • angular_x (float) – Angular X velocity (deg/s or ratio between -1.0 and 1.0 if used with joystick command)

  • angular_y (float) – Angular Y velocity (deg/s or ratio between -1.0 and 1.0 if used with joystick command)

  • angular_z (float) – Angular Z velocity (deg/s or ratio between -1.0 and 1.0 if used with joystick command)

class HandGuiding

An Hand-Guiding mode

Canonical

kortex_api.autogen.messages.Base_pb2.HandGuiding

Parameters

hand_guiding_mode (HandGuidingMode) – mode

class TwistCommand

A twist command to be applied to the tool

Canonical

kortex_api.autogen.messages.Base_pb2.TwistCommand

Parameters

  • reference_frame (CartesianReferenceFrame) – The reference frame used for the twist command

  • twist (Twist) – Twist value

  • duration (float) – Duration constraint. If not 0, allows to set a limit (in seconds) to the TwistCommand

class JointAngles

An array of joint angles

Canonical

kortex_api.autogen.messages.Base_pb2.JointAngles

Parameters

joint_angles (JointAngle [ ]) – Array of joint angles

class JointAngle

Angle value of a specific joint

Canonical

kortex_api.autogen.messages.Base_pb2.JointAngle

Parameters

  • joint_identifier (int) – Joint identifier

  • value (float) – Position (in degrees)

class JointSpeeds

An array of joints speeds

Canonical

kortex_api.autogen.messages.Base_pb2.JointSpeeds

Parameters

  • joint_speeds (JointSpeed [ ]) – Array of joint speeds

  • duration (float) – Duration constraint. If not 0, allows to set a limit (in seconds) common to every joint specified in ‘joint_speeds’

class JointSpeed

Speed of a specific joint

Canonical

kortex_api.autogen.messages.Base_pb2.JointSpeed

Parameters

  • joint_identifier (int) – Joint identifier

  • value (float) – Joint speed (in degrees per second)

class JointTorques

An array of joint torques

Canonical

kortex_api.autogen.messages.Base_pb2.JointTorques

Parameters

  • joint_torques (JointTorque [ ]) – Array of joint torque.

  • duration (int) – Duration constraint. If not 0, allows to set a limit (in seconds) common to every joint specified in ‘joint_torques’ (not implemented yet)

class JointTorque

joint torque for a specified joint

Canonical

kortex_api.autogen.messages.Base_pb2.JointTorque

Parameters

  • joint_identifier (int) – Joint identifier

  • value (float) – Joint speed (in Newton*meters)

  • duration (int) – Duration constraint. If not 0, allows to set a limit (in seconds) to the JointTorque (not implemented yet)

class ControllerConfiguration

Controller configuration information

Canonical

kortex_api.autogen.messages.Base_pb2.ControllerConfiguration

Parameters

  • handle (ControllerHandle) – Controller identifier

  • name (str) – Controller friendly name

  • active_mapping_handle (MappingHandle) – Mapping that is active on this controller

  • analog_input_identifier_enum (str) – Name that identifies the enum used to interpret the ‘analog_input_identifier’ field (for example in ControllerEvent). Thus ‘analog_input_identifier_enum’ shall take the name of an existing enum (ex. XboxOneAnalogInputIdentifier)

  • digital_input_identifier_enum (str) – Name that identifies the enum used to interpret the ‘digital_input_identifier’ field (for example in ControllerEvent). Thus ‘digital_input_identifier_enum’ shall take the name of an existing enum (ex. XboxOneDigitalInputIdentifier, WristDigitalInputIdentifier)

class ControllerConfigurationList

Controller configuration information for multiple controllers

Canonical

kortex_api.autogen.messages.Base_pb2.ControllerConfigurationList

Parameters

controller_configurations (ControllerConfiguration [ ]) – List of controller configurations

class ActuatorInformation

A count of the number of actuators in the robot

Canonical

kortex_api.autogen.messages.Base_pb2.ActuatorInformation

Parameters

count (int) – Number of actuators

class ArmStateInformation

Information about the arm state

Canonical

kortex_api.autogen.messages.Base_pb2.ArmStateInformation

Parameters

  • active_state (ArmState) – Arm active state

  • connection (Connection) – Connection information of the last processed command which triggered an arm state change

class ArmStateNotification

Notification about a single arm state event

Canonical

kortex_api.autogen.messages.Base_pb2.ArmStateNotification

Parameters
class PreComputedJointTrajectory

Pre-computed joint trajectory subject to specified continuity constraints. The starting point of the trajectory must have an elapsed time of 0 ms and the angular values must reflect the current state of the robot. The robot control libraries will validate the trajectory fulfills the specified continuity constraints before playing the trajectory.

Canonical

kortex_api.autogen.messages.Base_pb2.PreComputedJointTrajectory

Parameters
class PreComputedJointTrajectoryElement

Set of angle, speed, acceleration, and elapsed time values for each joint for a given 1 ms interval. A PreComputedJointTrajectory is made up of a series of these elements.

Canonical

kortex_api.autogen.messages.Base_pb2.PreComputedJointTrajectoryElement

Parameters

  • joint_angles (float [ ]) – Angles values for all joints (in degrees)

  • joint_speeds (float [ ]) – Speed values for all joints (in degrees per second)

  • joint_accelerations (float [ ]) – Acceleration values for all joints (in degrees per second^2)

  • time_from_start (float) – Absolute elaspsed time since initial point (in seconds)

class TrajectoryErrorElement

Details for a single trajectory validation error

Canonical

kortex_api.autogen.messages.Base_pb2.TrajectoryErrorElement

Parameters

  • error_type (TrajectoryErrorType) – Error type

  • error_value (float) – Erroneous value

  • min_value (float) – Minimum permitted value

  • max_value (float) – Maximum permitted value

  • index (int) – Actuator index

  • message (str) – Clarification message for the error

  • waypoint_index (int) – Waypoint index (if it applies)

class TrajectoryErrorReport

Report collecting information on different validation errors for a particular trajectory

Canonical

kortex_api.autogen.messages.Base_pb2.TrajectoryErrorReport

Parameters

trajectory_error_elements (TrajectoryErrorElement [ ]) –

class WaypointValidationReport

Waypoint Validation results

Canonical

kortex_api.autogen.messages.Base_pb2.WaypointValidationReport

Parameters

  • trajectory_error_report (TrajectoryErrorReport) – Report on the validation, the waypoint list is valid if empty

  • optimal_waypoint_list (WaypointList) – Validated Waypoint List with optimal blending radius if the option was set

class Waypoint

A waypoint describing part of a trajectory.

Canonical

kortex_api.autogen.messages.Base_pb2.Waypoint

Parameters
class AngularWaypoint

An angular Waypoint

Canonical

kortex_api.autogen.messages.Base_pb2.AngularWaypoint

Parameters

  • angles (float [ ]) – Target position (in deg)

  • maximum_velocities (float [ ]) – Maximum velocities for each actuator (in deg/s) during movement (optional)

  • maximum_accelerations (float [ ]) – Maximum accelerations for each actuator (in deg/s^2) during movement (optional)

  • duration (float) –

    Duration to reach this waypoint from the previous position (in seconds). Part of the constraint Oneof.

  • blending (float) –

    Blending value (from 0 to 1, 1 being the optimal blending). Part of the constraint Oneof.

class CartesianWaypoint

A Cartesian Waypoint

Canonical

kortex_api.autogen.messages.Base_pb2.CartesianWaypoint

Parameters

  • pose (Pose) – Target Cartesian Pose

  • reference_frame (CartesianReferenceFrame) – The reference frame used for the goal Pose

  • maximum_linear_velocity (float) – Maximum linear velocity (in m/s) during movement (optional)

  • maximum_angular_velocity (float) – Maximum angular velocity (in deg/s) during movement (optional)

  • blending_radius (float) – Blending radius (in m) to use for the movement (if this waypoint is not an endpoint).

  • maximum_linear_acceleration (float) – Maximum linear acceleration (in m/s^2) during movement (optional)

  • maximum_angular_acceleration (float) – Maximum angular acceleration (in deg/s^2) during movement (optional)

class WaypointList

A waypoint list

Canonical

kortex_api.autogen.messages.Base_pb2.WaypointList

Parameters

  • waypoints (Waypoint [ ]) – Array of waypoints

  • duration (float) – Duration of the waypoint list (in seconds). If unspecified or equal to 0, optimal duration is assumed.

  • use_optimal_blending (bool) – At validation if this value is true, the waypoint list with optimal blending will be returned.

class KinematicTrajectoryConstraints

Angular and Cartesian kinematic constraints (maximum velocities)

Canonical

kortex_api.autogen.messages.Base_pb2.KinematicTrajectoryConstraints

Parameters

  • angular_velocities (float [ ]) – Angular velocities for each actuator (in deg/s)

  • linear_velocity (float) – Linear velocity (in m/s)

  • angular_velocity (float) – Angular velocity (in deg/s)

class FirmwareBundleVersions

Firmware bundle versions including main firmware bundle version and components versions

Canonical

kortex_api.autogen.messages.Base_pb2.FirmwareBundleVersions

Parameters

  • main_bundle_version (str) – Version of the main bundle

  • components_versions (FirmwareComponentVersion [ ]) – List containing all components of the bundle

class FirmwareComponentVersion

Individual component with its version

Canonical

kortex_api.autogen.messages.Base_pb2.FirmwareComponentVersion

Parameters

  • name (str) – Name of the component

  • version (str) – Version of the component

  • device_id (int) – Device id of the component

class IKData

Input needed for the calculation of inverse kinematics

Canonical

kortex_api.autogen.messages.Base_pb2.IKData

Parameters

  • cartesian_pose (Pose) – Cartesian pose of the end effector used to calculate the corresponding joint angles

  • guess (JointAngles) – Initial guess for the joint angles

class HandGuidingModeNotification

Notification about an Hand-Guiding mode change event

Canonical

kortex_api.autogen.messages.Base_pb2.HandGuidingModeNotification

Parameters
class EnablingDeviceNotification

Notification about an enabling device state change event

Canonical

kortex_api.autogen.messages.Base_pb2.EnablingDeviceNotification

Parameters
class InverseKinematicsEvent

Inverse kinematics event

Canonical

kortex_api.autogen.messages.Base_pb2.InverseKinematicsEvent

Parameters

  • event (InverseKinematicsEventType) – Inverse kinematic event type

  • best_iteration (int) – Best iteration from inverse kinematic calculation

  • position_error (float) – Position error from inverse kinematic calculation (meters)

  • orientation_error (float) – Orientation error from inverse kinematic calculation (degrees)

class JointLimitEvent

Joint limit event

Canonical

kortex_api.autogen.messages.Base_pb2.JointLimitEvent

Parameters
class ProtectionZoneEvent

Protection zone event

Canonical

kortex_api.autogen.messages.Base_pb2.ProtectionZoneEvent

Parameters
class CollisionEvent

Collision event

Canonical

kortex_api.autogen.messages.Base_pb2.CollisionEvent

Parameters

  • event (CollisionEventType) – Collision event type

  • joint_indexes (int [ ]) – Indexes of the joints that have been involved in the collision

class CartesianLimitEvent

Cartesian limit event

Canonical

kortex_api.autogen.messages.Base_pb2.CartesianLimitEvent

Parameters

  • event (CartesianLimitEventType) – Cartesian limit event type

  • cartesian_limit (float) – Value of Cartesian limit reached

class MotionNotificationEvent

Motion notification event

Canonical

kortex_api.autogen.messages.Base_pb2.MotionNotificationEvent

Parameters

  • inverse_kinematics_event (InverseKinematicsEvent) –

    Inverse kinematics event. Part of the motion_event Oneof.

  • joint_limit_event (JointLimitEvent) –

    Joint limit event. Part of the motion_event Oneof.

  • protection_zone_event (ProtectionZoneEvent) –

    Protection zone event. Part of the motion_event Oneof.

  • collision_event (CollisionEvent) –

    Collision event. Part of the motion_event Oneof.

  • trajectory_report_event (TrajectoryErrorElement) –

    trajectory report event. Part of the motion_event Oneof.

  • cartesian_limit_event (CartesianLimitEvent) –

    Cartesian limit event. Part of the motion_event Oneof.

  • overcurrent_value (float) –

    Last overcurrent value. Part of the motion_event Oneof.

  • trajectory_execution_failure (bool) –

    The trajectory execution failed. Part of the motion_event Oneof.

class MotionNotification

Motion Notification

Canonical

kortex_api.autogen.messages.Base_pb2.MotionNotification

Parameters
class ProgramRequestNotification

Notification about a program request event

Canonical

kortex_api.autogen.messages.Base_pb2.ProgramRequestNotification

Parameters
class RemoteAccessHandle

Remote Access handle

Canonical

kortex_api.autogen.messages.Base_pb2.RemoteAccessHandle

Parameters

identifier (int) – Identifier for the Remote Access

class EnableRemoteAccessArgs

Args for Remote Access Enable RPC

Canonical

kortex_api.autogen.messages.Base_pb2.EnableRemoteAccessArgs

Parameters

  • handle (RemoteAccessHandle) – Handle of the enabled Remote Access

  • key (str) – Key for key-protected remote accesses (optional)

class IptablesRule

Iptables rule

Canonical

kortex_api.autogen.messages.Base_pb2.IptablesRule

Parameters

  • chain (str) – Chain to apply the rule

  • parameters (str) – Parameters for the iptables rule

class RemoteAccessInfo

Remote Access information

Canonical

kortex_api.autogen.messages.Base_pb2.RemoteAccessInfo

Parameters

  • handle (RemoteAccessHandle) – Handle for the Remote Access

  • description (str) – Description of the Remote Access

  • is_enabled (bool) – Status of the Remote Access (enabled or not)

  • is_key_required (bool) – Indicates if the Remote Access enabling requires a key

class RemoteAccessInfoList

Array of all Remote Access Information

Canonical

kortex_api.autogen.messages.Base_pb2.RemoteAccessInfoList

Parameters

remote_access_info (RemoteAccessInfo [ ]) – List of Remote Accesses

class RemoteAccessParameters

Remote Access parameters

Canonical

kortex_api.autogen.messages.Base_pb2.RemoteAccessParameters

Parameters

  • remote_access_info (RemoteAccessInfo) – Remote Access information

  • iptables_rules (IptablesRule [ ]) – List of Remote Access related iptables rules

class RemoteAccessChangeNotification

Remote Access change Notification

Canonical

kortex_api.autogen.messages.Base_pb2.RemoteAccessChangeNotification

Parameters
class AcknowledgeActionNotification

Notification about an Acknowledge action event

Canonical

kortex_api.autogen.messages.Base_pb2.AcknowledgeActionNotification

Parameters