ToolManager

class ToolManagerClient
Canonical

kortex_api.autogen.client_stubs.ToolManagerClientRpc

__init__(router, namespace=None)

Constructs a ToolManagerClient with an initialized RouterClient and an optional namespace.

Parameters

  • router (RouterClient) – RouterClient used for the communication

  • namespace (string) – Optional namespace on which to initialize the ToolManagerClient (defaults to None)

IsAlive(timeoutMs: int = 1000)

Returns True if the Service Server is detected online before timeoutMs is expired, False otherwise.

Parameters

timeoutMs (unsigned int) – The maximum time to wait for an answer from the server

Return type

bool

GetAllToolsInformation(deviceId = 0, options = RouterClientSendOptions())
The READ_ONLY permission is necessary to call this RPC.

Gets information about all the tools
Parameters

  • deviceId (int) – Device’s Id called by rpc (optional)

  • options (RouterClientSendOptions) – Router options for sending the message

Return type

ToolInformationList

GetToolInformation(toolhandle, deviceId=0, options=RouterClientSendOptions())
The READ_ONLY permission is necessary to call this RPC.

Gets information about one specific tool
The handle.identifier of the tool needs to match the identifier from an existing one, or else an ERROR_DEVICE, ENTITY_NOT_FOUND exception is thrown.

Parameters
Return type

ToolInformation

GetActiveToolInformationList(deviceId = 0, options = RouterClientSendOptions())
The READ_ONLY permission is necessary to call this RPC.

Gets information about the active tool list
Parameters

  • deviceId (int) – Device’s Id called by rpc (optional)

  • options (RouterClientSendOptions) – Router options for sending the message

Return type

ToolInformationList

SelectActiveToolList(toolhandlelist, deviceId=0, options=RouterClientSendOptions())
The CONFIGURE permission is necessary to call this RPC.

Sets the tools from the tool handle list to active. The last tool in the list is the one farthest from the robot flange.
The arm must be powered on and in monitored stop, or be powered off, or else an error ERROR_DEVICE, WRONG_MODE is thrown.
The identifiers of the tools in the list need to match the identifier from an existing one, or else an ERROR_DEVICE, ENTITY_NOT_FOUND exception is thrown.

Parameters
CreateCustomTool(toolinformation, deviceId=0, options=RouterClientSendOptions())
The CONFIGURE permission is necessary to call this RPC.

Creates a Custom Tool entry
The tool_plugin_type must be TOOL_TYPE_CUSTOM, or else the error ERROR_DEVICE, INVALID_PARAM is thrown.
The friendly name size must be between 1 and 25.
The mass must be entered in Kilograms and its value must be between 0 and 9 kg.
The range for the cartesian transform must be between -1 and 1 meters for the translation coordinates x, y and z, between -180 and 180 degrees for rotation values theta_x and theta_y and between 0 and 180 degrees for theta_z.
The center of mass must be entered in meters and its value must be between -1 and 1.
The inertia must be between 0 and 1 kgm² for the diagonal values Ixx, Iyy and Izz and between -1 and 1 kgm² for the cross values Ixy, Ixz and Iyz.

Parameters
Return type

ToolHandle

DeleteCustomTool(toolhandle, deviceId=0, options=RouterClientSendOptions())
The CONFIGURE permission is necessary to call this RPC.

Deletes a Custom Tool entry
The tool to be deleted needs to exist, or else an error ERROR_DEVICE, ENTITY_NOT_FOUND is thrown.
The tool must not be in the active tool list, or else an error ERROR_DEVICE, INVALID_PARAM is thrown.
The tool must be a custom tool to be deleted, or else an error ERROR_DEVICE, INVALID_PARAM is thrown.

Parameters
UpdateToolInformation(toolinformation, deviceId=0, options=RouterClientSendOptions())
The OPERATE permission is necessary to call this RPC.

Updates a Tool’s information
Updates on the tool information need to follow the same rules as the ones mentioned in CreateCustomTool’s description.
The handle.identifier of the tool to be updated needs to match the identifier from an existing tool, or else an ENTITY_NOT_FOUND exception is thrown.

Parameters
OnNotificationActiveToolInformationChangedTopic(callback, notificationoptions)
The READ_ONLY permission is necessary to call this RPC.

Subscribes to tool information notifications
Parameters

  • callback (function) – Function callback taking a Kinova.Api.ToolManager.ActiveToolNotification as only argument, and returning None.

  • notificationoptions (NotificationOptions) – Notification options

Return type

NotificationHandle

OnNotificationToolInformationTopic(callback, notificationoptions)
The READ_ONLY permission is necessary to call this RPC.

Subscribes to custom tool notifications
Parameters

  • callback (function) – Function callback taking a Kinova.Api.ToolManager.ToolNotification as only argument, and returning None.

  • notificationoptions (NotificationOptions) – Notification options

Return type

NotificationHandle

Unsubscribe(notificationhandle, deviceId=0, options=RouterClientSendOptions())
The READ_ONLY permission is necessary to call this RPC.

Unsubscribes client from receiving notifications for the specified topic
Parameters