SafetyControlUnitConfig

class ArmCalibration

Arm calibration

Canonical

kortex_api.autogen.messages.SafetyControlUnitConfig_pb2.ArmCalibration

Parameters

frame_calibrations (FrameCalibration [ ]) – calibration for each frame

class FrameCalibration

Frame calibration

Canonical

kortex_api.autogen.messages.SafetyControlUnitConfig_pb2.FrameCalibration

Parameters

• geometric_calibration_matrix (GeometricCalibrationMatrix) – geometric calibration for a single frame

• elasto_static_calibration_matrix (ElastoStaticCalibrationMatrix) – elasto-static calibration for a single frame

class GeometricCalibrationMatrix

Geometric calibration matrix

Canonical

kortex_api.autogen.messages.SafetyControlUnitConfig_pb2.GeometricCalibrationMatrix

Parameters

• m00 (float) – m00 value

• m10 (float) – m10 value

• m20 (float) – m20 value

• m01 (float) – m01 value

• m11 (float) – m11 value

• m21 (float) – m21 value

• m02 (float) – m02 value

• m12 (float) – m12 value

• m22 (float) – m22 value

• m03 (float) – m03 value

• m13 (float) – m13 value

• m23 (float) – m23 value

class ElastoStaticCalibrationMatrix

Elasto-static calibration matrix

Canonical

kortex_api.autogen.messages.SafetyControlUnitConfig_pb2.ElastoStaticCalibrationMatrix

Parameters

• cx (float) – cx value

• cy (float) – cy value

• cz (float) – cz value

• crx (float) – crx value

• cry (float) – cry value

• crz (float) – crz value

class SafetyParametersChecksumChangeNotification

Notification about a safety parameters checksum change event

Canonical

kortex_api.autogen.messages.SafetyControlUnitConfig_pb2.SafetyParametersChecksumChangeNotification

Parameters

• safety_parameters_checksum (CRC32Checksum) – New Safety parameters checksum

• generic_info (NotificationInformation) – Generic notification information