ProtectionZone

class ProtectionZoneHandle

Reference to a specific protection zone

Canonical

kortex_api.autogen.messages.ProtectionZone_pb2.ProtectionZoneHandle

Parameters

  • identifier (int) – Protection zone identifier

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

class CartesianLimitation

Translation and orientation limits for a specified limit type for Cartesian configuration This message is deprecated and will be removed in a future release.

Canonical

kortex_api.autogen.messages.ProtectionZone_pb2.CartesianLimitation

Parameters

  • type (LimitationType) – Limitation type

  • translation (float) – Translation limitation

  • orientation (float) – Orientation limitation

class ZoneShape

Protection zone shape description

Canonical

kortex_api.autogen.messages.ProtectionZone_pb2.ZoneShape

Parameters

  • shape_type (ShapeType) – Shape type

  • origin (Position) – Origin of the protection zone shape from reference (in meters)

  • orientation (RotationMatrix) – Rotation matrix to provide shape orientation

  • dimensions (float [ ]) – Shape size measurement (in meters). If rectangular prism: x, y and z dimensions. If cylinder: radius and height. If sphere: radius

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

class ToolSphere

Tool sphere

Canonical

kortex_api.autogen.messages.ProtectionZone_pb2.ToolSphere

Parameters

  • center (Position) – Center of tool sphere (in meters)

  • radius (float) – Radius of tool sphere (in meters)

class ProtectionZoneConfig

Protection zone configuration

Canonical

kortex_api.autogen.messages.ProtectionZone_pb2.ProtectionZoneConfig

Parameters

  • handle (ProtectionZoneHandle) – Protection zone handle

  • name (str) – Protection zone friendly name

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

  • is_enabled (bool) – True if protection zone is enabled, false otherwise

  • shape (ZoneShape) – Protection zone shape

  • limitations (CartesianLimitation [ ]) – This field is deprecated and will be removed in a future release

  • envelope_limitations (CartesianLimitation [ ]) – This field is deprecated and will be removed in a future release

class ProtectionZoneConfigList

Array of protection zones

Canonical

kortex_api.autogen.messages.ProtectionZone_pb2.ProtectionZoneConfigList

Parameters

protection_zones (ProtectionZoneConfig [ ]) – Protection zone

class ProtectionZoneChangeNotification

Representation of a protection zone change event

Canonical

kortex_api.autogen.messages.ProtectionZone_pb2.ProtectionZoneChangeNotification

Parameters
class ToolSphereChangeNotification

Representation of a tool sphere change event

Canonical

kortex_api.autogen.messages.ProtectionZone_pb2.ToolSphereChangeNotification

Parameters

  • tool_sphere (ToolSphere) – Tool sphere information

  • 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