BaseCyclic

class BaseFeedback

Defines the feedback provided by the base

Canonical

kortex_api.autogen.messages.BaseCyclic_pb2.BaseFeedback

Parameters

  • active_state_connection_identifier (int) – Connection identifier of the last processed command which triggered an arm state change

  • active_state (ArmState) – Active state of the arm

  • arm_voltage (float) – Arm voltage (in Volts)

  • arm_current (float) – Arm current (in Amperes)

  • temperature_cpu (float) – CPU temperature (in degree Celsius)

  • temperature_ambient (float) – Ambient temperature (in degree Celsius)

  • imu_acceleration_x (float) – IMU Measured acceleration (X-Axis) of the base (in meters per second squared)

  • imu_acceleration_y (float) – IMU Measured acceleration (Y-Axis) of the base (in meters per second squared)

  • imu_acceleration_z (float) – IMU Measured acceleration (Z-Axis) of the base (in meters per second squared)

  • imu_angular_velocity_x (float) – IMU Measured angular velocity (X-Axis) of the base (in degrees per second)

  • imu_angular_velocity_y (float) – IMU Measured angular velocity (Y-Axis) of the base (in degrees per second)

  • imu_angular_velocity_z (float) – IMU Measured angular velocity (Z-Axis) of the base (in degrees per second)

  • tool_pose_x (float) – Measured Cartesian position (X-Axis) of the tool (in meters)

  • tool_pose_y (float) – Measured Cartesian position (Y-Axis) of the tool (in meters)

  • tool_pose_z (float) – Measured Cartesian position (Z-Axis) of the tool (in meters)

  • tool_pose_theta_x (float) – Measured Cartesian orientation (X-Axis) of the tool (in degrees)

  • tool_pose_theta_y (float) – Measured Cartesian orientation (Y-Axis) of the tool (in degrees)

  • tool_pose_theta_z (float) – Measured Cartesian orientation (Z-Axis) of the tool (in degrees)

  • tool_twist_linear_x (float) – Measured Cartesian linear velocity (X-Axis) of the tool (in meters per second)

  • tool_twist_linear_y (float) – Measured Cartesian linear velocity (Y-Axis) of the tool (in meters per second)

  • tool_twist_linear_z (float) – Measured Cartesian linear velocity (Z-Axis) of the tool (in meters per second)

  • tool_twist_angular_x (float) – Measured Cartesian angular velocity (X-Axis) of the tool (in degrees per second)

  • tool_twist_angular_y (float) – Measured Cartesian angular velocity (Y-Axis) of the tool (in degrees per second)

  • tool_twist_angular_z (float) – Measured Cartesian angular velocity (Z-Axis) of the tool (in degrees per second)

  • tool_external_wrench_force_x (float) – Computed force in X-Axis from external wrench (in Newtons)

  • tool_external_wrench_force_y (float) – Computed force in Y-Axis from external wrench (in Newtons)

  • tool_external_wrench_force_z (float) – Computed force in Z-Axis from external wrench (in Newtons)

  • tool_external_wrench_torque_x (float) – Computed torque about X-axis from external wrench (in Newton-meters)

  • tool_external_wrench_torque_y (float) – Computed torque about Y-axis from external wrench (in Newton-meters)

  • tool_external_wrench_torque_z (float) – Computed torque about Z-axis from external wrench (in Newton-meters)

  • fault_bank_a (int) – The arm fault flags bank A (see Base.BaseDiagnosticIdentifierBankA)

  • fault_bank_b (int) – The arm fault flags bank B (see Base.BaseDiagnosticIdentifierBankB)

  • warning_bank_a (int) – The arm warning flags bank A

  • warning_bank_b (int) – The arm warning flags bank B

  • commanded_tool_pose_x (float) – Commanded Cartesian position (X-Axis) of the tool (in meters)

  • commanded_tool_pose_y (float) – Commanded Cartesian position (Y-Axis) of the tool (in meters)

  • commanded_tool_pose_z (float) – Commanded Cartesian position (Z-Axis) of the tool (in meters)

  • commanded_tool_pose_theta_x (float) – Commanded Cartesian orientation (X-Axis) of the tool (in degrees)

  • commanded_tool_pose_theta_y (float) – Commanded Cartesian orientation (Y-Axis) of the tool (in degrees)

  • commanded_tool_pose_theta_z (float) – Commanded Cartesian orientation (Z-Axis) of the tool (in degrees)

  • operating_mode (OperatingModeType) – Current operating mode of the arm (only applicable if active_state is operational or recovery)

  • enabling_device_state (bool) – Current enabling device state. True is pressed, false if released

  • scu_fault_bank_a (int) – The SCU diagnostic flags bank A (see Base.LinkSCUDiagnosticIdentifierBankA)

  • scu_fault_bank_b (int) – The SCU diagnostic flags bank B (see Base.LinkSCUDiagnosticIdentifierBankB)

  • scu_fault_bank_c (int) – The SCU diagnostic flags bank C (see Base.LinkSCUDiagnosticIdentifierBankC)

  • scu_fault_bank_d (int) – The SCU diagnostic flags bank D (see Base.LinkSCUDiagnosticIdentifierBankD)

  • flange_pose (Pose) – Measured Pose of the flange

  • is_emergency_stop_activated (bool) – Emergency stop state. True if pressed, false otherwise

  • active_payload (float) – Active Payload (in kg)

  • state_bank (int) – State of the robot arm (see Base.LinkStateIdentifierBank)

class FieldCustomType

Custom data field

Canonical

kortex_api.autogen.messages.BaseCyclic_pb2.FieldCustomType

Parameters

command_list (CustomType [ ]) – Command list

class FieldCustomData

Custom data field

Canonical

kortex_api.autogen.messages.BaseCyclic_pb2.FieldCustomData

Parameters

  • float (float) – Float. Part of the values Oneof.

  • fix32 (int) –

    Fixed32. Part of the values Oneof.

  • int32 (int) –

    Int32. Part of the values Oneof.

  • uint32 (int) –

    Unit32. Part of the values Oneof.

  • bool (bool) –

    Bool. Part of the values Oneof.

class RepeatedFieldCustomData
Canonical

kortex_api.autogen.messages.BaseCyclic_pb2.RepeatedFieldCustomData

Parameters

data (FieldCustomData [ ]) – Data

class CustomData

Custom development data, content varies according to debug needs

Canonical

kortex_api.autogen.messages.BaseCyclic_pb2.CustomData

Parameters

  • frame_id (int) – Frame ID

  • custom_datas (RepeatedFieldCustomData [ ]) – Custom data

  • actuators_custom_data (CustomData [ ]) – Actuator custom data

  • wrist_custom_data (CustomData) – Wrist module custom data

class Command

Defines a command provided to robot devices (actuators and interface)

Canonical

kortex_api.autogen.messages.BaseCyclic_pb2.Command

Parameters

  • frame_id (int) – Frame ID

  • actuators (Command [ ]) – Actuator command

  • wrist (Command) – Wrist module command

class Feedback

Defines the feedback provided by robot devices (base, actuators and interface)

Canonical

kortex_api.autogen.messages.BaseCyclic_pb2.Feedback

Parameters

  • frame_id (int) – Frame ID

  • base (BaseFeedback) – Base feedback

  • actuators (Feedback [ ]) – Actuator feedback

  • wrist (Feedback) – Wrist module feedback