ToolPlugin

class ToolHandle

Tool identifier

Canonical

kortex_api.autogen.messages.ToolPlugin_pb2.ToolHandle

Parameters

identifier (str) – Tool identifier

class ToolHandleList

List of identifier

Canonical

kortex_api.autogen.messages.ToolPlugin_pb2.ToolHandleList

Parameters

handles (ToolHandle [ ]) – Handles list

class ToolInformation

Tool’s information

Canonical

kortex_api.autogen.messages.ToolPlugin_pb2.ToolInformation

Parameters

  • handle (ToolHandle) – Tool handle

  • mass (float) – The mass

  • transform (CartesianTransform) – The tool transform

  • center_of_mass (Position) – The tool center of mass

  • open_action_handle (ActionDescriptionHandle) – Identifier of the action that opens the tool

  • close_action_handle (ActionDescriptionHandle) – Identifier of the action that closes the tool

  • inertia (SymmetricMatrix3x3) – Tool’s inertia

  • tool_plugin_type (ToolPluginType) – The tool plugin type

  • feedback_schema (CustomData) – The JSON schema of the feedback that will be returned by GetToolFeedback()

  • connection_state (ToolConnectionState) – The connection state of the tool

  • plugin_handle (PluginHandle) – Identifies from which plugin this tool comes from, if applicable

  • friendly_name (str) – Tool friendly name

  • is_active (bool) – Indicates if the tool is part of the active tool list

  • active_index (int) – Index of the tool in the active tool list. It is 0 if the tool is not active, and 1 is the tool nearest to the flange.

class ToolInformationList

List of tool information

Canonical

kortex_api.autogen.messages.ToolPlugin_pb2.ToolInformationList

Parameters

tools_information (ToolInformation [ ]) – Tool information list

class JogMessage

Jog command directive

Canonical

kortex_api.autogen.messages.ToolPlugin_pb2.JogMessage

Parameters

  • handle (ToolHandle) – Tool Handle

  • jog_value (int) – Relative intensity to apply [-100 , 100]

class MoveMessage

Move command directive

Canonical

kortex_api.autogen.messages.ToolPlugin_pb2.MoveMessage

Parameters

  • handle (ToolHandle) – Tool handle

  • target_position (int) – Target position [-100 , 100]

class ToolInformationNotification

Notification about a tool information event

Canonical

kortex_api.autogen.messages.ToolPlugin_pb2.ToolInformationNotification

Parameters