ControlConfig

class JointPositionLimits

Defines joint position limits

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.JointPositionLimits

Parameters

  • lower (float) – Joint position lower limit (in degrees)

  • upper (float) – Joint position upper limit (in degrees)

class GravityVector

Defines the gravity vector in terms of the robot base frame. If not explicitly configured, it defaults to (0, 0, -9.81), assuming a mounting on a horizontal surface. If the robot is mounted on a wall or ceiling, the gravity vector relative to the base frame will change. The control library needs to be aware of this to accurately compensate for gravity.

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.GravityVector

Parameters

  • x (float) – x (meters / second^2)

  • y (float) – y (meters / second^2)

  • z (float) – z (meters / second^2)

class Position

A Cartesian position

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.Position

Parameters

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

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

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

class PayloadInformation

Defines payload information

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.PayloadInformation

Parameters

  • payload_mass (float) – Payload mass in kg

  • payload_mass_center (Position) – Payload center of mass position relative to the tool reference frame

  • payload_inertia (SymmetricMatrix3x3) – Payload inertia matrix

class CartesianTransform

Defines a Cartesian transform

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.CartesianTransform

Parameters

  • x (float) – x (in meters)

  • y (float) – y (in meters)

  • z (float) – z (in meters)

  • theta_x (float) – Theta x (in degrees)

  • theta_y (float) – Theta y (in degrees)

  • theta_z (float) – Theta z (in degrees)

class ToolConfiguration

Defines a tool configuration

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.ToolConfiguration

Parameters

  • tool_transform (CartesianTransform) – Cartesian tool transform

  • tool_mass (float) – Tool mass (in kg)

  • tool_mass_center (Position) – Tool mass center relative to the interface module reference frame

  • tool_inertia_matrix (SymmetricMatrix3x3) – Tool inertia matrix

  • tool_rotation_matrix (Matrix3x3) – Tool rotation matrix

class ToolConfigurationList
Canonical

kortex_api.autogen.messages.ControlConfig_pb2.ToolConfigurationList

Parameters

tool_configurations (ToolConfiguration [ ]) – List of tool configurations

class ControlConfigurationNotification

Notification about a single control configuration event

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.ControlConfigurationNotification

Parameters
class CartesianReferenceFrameInfo

Cartesian reference frame

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.CartesianReferenceFrameInfo

Parameters

reference_frame (CartesianReferenceFrame) – Reference frame

class TwistLinearSoftLimit

Software twist linear speed limit

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.TwistLinearSoftLimit

Parameters

  • control_mode (ControlMode) – Control mode

  • twist_linear_soft_limit (float) – Software linear twist limit

class TwistAngularSoftLimit

Software twist angular speed limit

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.TwistAngularSoftLimit

Parameters

  • control_mode (ControlMode) – Control mode

  • twist_angular_soft_limit (float) – Software angular twist limit

class JointPositionSoftLimits

Software joint position limits

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.JointPositionSoftLimits

Parameters
class JointSpeedSoftLimits

Software joint speed limits

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.JointSpeedSoftLimits

Parameters

  • control_mode (ControlMode) – Control mode

  • joint_speed_soft_limits (float [ ]) – Software joint speed limits

class JointAccelerationSoftLimits

Software Joint acceleration limits

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.JointAccelerationSoftLimits

Parameters

  • control_mode (ControlMode) – Control mode

  • joint_acceleration_soft_limits (float [ ]) – Software acceleration limits

class KinematicLimits

Kinematic limits

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.KinematicLimits

Parameters

  • control_mode (ControlMode) – Control mode

  • twist_linear (float) – Linear twist limit (meters / second)

  • twist_angular (float) – Angular twist limit (degrees / second)

  • joint_speed_limits (float [ ]) – Joint speed limits (degrees / second)

  • joint_acceleration_limits (float [ ]) – Joint acceleration limits (degrees / second²)

  • joint_position_limits (JointPositionLimits [ ]) – Joint position limits (degrees)

  • elbow_twist_linear (float) – Linear elbow twist limit (meters / second)

  • acceleration_linear (float) – Linear acceleration limit (meters / second²)

  • acceleration_angular (float) – Angular acceleration limit (degrees / second²)

class KinematicLimitsList

Kinematic limits

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.KinematicLimitsList

Parameters

kinematic_limits_list (KinematicLimits [ ]) – List of kinematic limits

class DesiredSpeeds

Desired Joystick speeds.

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.DesiredSpeeds

Parameters

  • linear (float) – Desired linear speed (meters / second)

  • angular (float) – Desired angular speed (degrees / second)

  • joint_speed (float [ ]) – Desired joint speeds (degrees / second)

class LinearTwist

Desired Joystick linear speed.

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.LinearTwist

Parameters

linear (float) – Desired linear speed (meters / second)

class AngularTwist

Desired Joystick angular speed.

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.AngularTwist

Parameters

angular (float) – Desired angular speed (degrees / second)

class JointSpeeds

Desired Joystick joint speeds.

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.JointSpeeds

Parameters

joint_speed (float [ ]) – Desired joint speeds (degrees / second)

class ControlModeInformation

Control mode information

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.ControlModeInformation

Parameters

control_mode (ControlMode) – Control mode

class ControlModeNotification

Notification about a single control mode event

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.ControlModeNotification

Parameters

  • control_mode (ControlMode) – New control mode

  • timestamp (Timestamp) – This field is deprecated and will be removed in a future release

  • user_handle (UserProfileHandle) – This field is deprecated and will be removed in a future release

  • connection (Connection) – This field is deprecated and will be removed in a future release

  • generic_info (NotificationInformation) – Generic notification information

  • old_control_mode (ControlMode) – Previous control mode

  • succeeded (bool) – True if the control mode switch happened without fail

  • report (ControlModeReportType) – Additional information about the control mode switch

class AxisLock
Canonical

kortex_api.autogen.messages.ControlConfig_pb2.AxisLock

Parameters
class AxisLockConfig
Canonical

kortex_api.autogen.messages.ControlConfig_pb2.AxisLockConfig

Parameters
class CollisionSensingActivationInformation

Collision sensing activation information (deprecated)

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.CollisionSensingActivationInformation

Parameters

activation_mode (CollisionSensingActivationMode) – Collision sensing activation mode

class CollisionDetectionLimitsList

Collision Detection limits and activation statuses list

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.CollisionDetectionLimitsList

Parameters

limits (CollisionDetectionLimits [ ]) – Collision detection limits for specific safety system mode

class CollisionDetectionLimits

Collision Detection limits and activation status

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.CollisionDetectionLimits

Parameters

  • mode (SafetySystemMode) – Safety system mode

  • tcp_limit (float) – Threshold value for TCP (in Newtons)

  • elbow_limit (float) – Threshold value for Elbow (in Newtons)

  • enabled (bool) – Collision detection activation status

class CollisionDetectionRangesList

Collision detection ranges list

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.CollisionDetectionRangesList

Parameters

ranges (CollisionDetectionRanges [ ]) – Ranges values and their safety system mode

class CollisionDetectionRanges

Collision detection ranges

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.CollisionDetectionRanges

Parameters

  • mode (SafetySystemMode) – Safety System Mode

  • lower_limit_tcp (float) – Lower limit of the range for TCP (in Newtons)

  • upper_limit_tcp (float) – Upper limit of the range for TCP (in Newtons)

  • lower_limit_elbow (float) – Lower limit of the range for Elbow (in Newtons)

  • upper_limit_elbow (float) – Upper limit of the range for Elbow (in Newtons)

class EnergyLimitsList

Energy limits and activation statuses list

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.EnergyLimitsList

Parameters

limits (EnergyLimits [ ]) – Energy limits for specific safety system mode

class EnergyLimits

Energy limits and activation status

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.EnergyLimits

Parameters

  • mode (SafetySystemMode) – Safety system mode

  • tcp_limit (float) – Threshold value for TCP (in Joules)

  • elbow_limit (float) – Threshold value for Elbow (in Joules)

  • enabled (bool) – Energy limitation activation status

class EnergyLimitsRangesList

Energy limitation ranges list

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.EnergyLimitsRangesList

Parameters

ranges (EnergyLimitsRanges [ ]) – Ranges values and their safety system mode

class EnergyLimitsRanges

Energy limitation ranges

Canonical

kortex_api.autogen.messages.ControlConfig_pb2.EnergyLimitsRanges

Parameters

  • mode (SafetySystemMode) – Safety System Mode

  • lower_limit_tcp (float) – Lower limit of the range for TCP (in Joules)

  • upper_limit_tcp (float) – Upper limit of the range for TCP (in Joules)

  • lower_limit_elbow (float) – Lower limit of the range for Elbow (in Joules)

  • upper_limit_elbow (float) – Upper limit of the range for Elbow (in Joules)