package Kinova.Api.Base
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service Base
Base.proto:25Base service. Broadly useful service. Provides functions for configuring a range of base-related functionalities and for enabling high-level control for the robot.
@PROXY_ID=2 @ERROR=Kinova.Api.Error
rpc CreateUserProfile (, )
Base.proto:28Creates a user profile and returns a handle to the profile
@RPC_ID=1
message
Base.proto:561Information about a user, together with a password. Full set of information needed to create a user profile.
optional user_profile = 1
Information about the user, including its username.
string password = 2
User's password
rpc UpdateUserProfile (, )
Base.proto:31Updates an existing user profile
@RPC_ID=2
rpc ReadUserProfile (, )
Base.proto:34Retrieves an existing user profile
@RPC_ID=3
rpc DeleteUserProfile (, )
Base.proto:37Deletes an existing user profile
@RPC_ID=4
rpc ReadAllUserProfiles (, )
Base.proto:40Retrieves all user profiles
@RPC_ID=5
message
Base.proto:576Array of user profiles
repeated user_profiles = 1
User profile
rpc ReadAllUsers (, )
Base.proto:43Retrieves the list of all user profile handles
@RPC_ID=6
message
Base.proto:581Array of user profile handles
repeated user_handles = 1
User handle
rpc ChangePassword (, )
Base.proto:46Changes the password of an existing user
@RPC_ID=7
message
Base.proto:586Information required to change user password
optional handle = 1
User handle
string old_password = 2
Current password
string new_password = 3
New password
rpc CreateSequence (, )
Base.proto:49Creates a new sequence and returns a handle to the sequence
@RPC_ID=8
rpc UpdateSequence (, )
Base.proto:52Updates an existing sequence
@RPC_ID=9
rpc ReadSequence (, )
Base.proto:55Retrieves an existing sequence
@RPC_ID=10
rpc DeleteSequence (, )
Base.proto:58Deletes an existing sequence
@RPC_ID=11
rpc ReadAllSequences (, )
Base.proto:61Retrieves the list of all existing sequences
@RPC_ID=12
message
Base.proto:661An array of sequences
repeated sequence_list = 1
Sequence
rpc PlaySequence (, )
Base.proto:68Plays an existing sequence
@RPC_ID=15
rpc PlayAdvancedSequence (, )
Base.proto:71Plays an existing sequence with options
@RPC_ID=16
message
Base.proto:599Reference to a sequence along with execution options
optional handle = 1
Sequence handle
bool in_loop = 2
Loop execution. Set to true to play the sequence in loop, false otherwise. When a sequence is executed in loop, it will automatically go back to first task within the sequence after completing execution of last task and continue execution forever unless the sequence is explicitely stopped
rpc StopSequence (, )
Base.proto:74Stops execution of currently playing sequence
@RPC_ID=17
rpc PauseSequence (, )
Base.proto:77Pauses execution of currently playing sequence
@RPC_ID=18
rpc ResumeSequence (, )
Base.proto:80Resumes execution of currently paused sequence
@RPC_ID=19
rpc CreateProtectionZone (, )
Base.proto:83Creates a new protection zone and returns a handle to the protection zone
@RPC_ID=20
rpc UpdateProtectionZone (, )
Base.proto:86Updates an existing protection zone
@RPC_ID=21
rpc ReadProtectionZone (, )
Base.proto:89Retrieves an existing protection zone
@RPC_ID=22
rpc DeleteProtectionZone (, )
Base.proto:92Deletes an existing protection zone
@RPC_ID=23
rpc ReadAllProtectionZones (, )
Base.proto:95Retrieves a list of all protection zones
@RPC_ID=24
message
Base.proto:986Array of protection zones
repeated protection_zones = 1
Protection zone
rpc CreateMapping (, )
Base.proto:98Creates a new mapping
@RPC_ID=26
rpc ReadMapping (, )
Base.proto:101Retrieves an existing mapping
@RPC_ID=27
rpc UpdateMapping (, )
Base.proto:104Updates an existing mapping
@RPC_ID=28
rpc DeleteMapping (, )
Base.proto:107Deletes an existing mapping
@RPC_ID=29
rpc ReadAllMappings (, )
Base.proto:110Retrieves a list of all mappings
@RPC_ID=30
message
Base.proto:1596Array of mappings
repeated mappings = 1
Mapping
rpc CreateMap (, )
Base.proto:113Creates a new map
@RPC_ID=36
rpc ReadMap (, )
Base.proto:116Retrieves an existing map
@RPC_ID=37
rpc UpdateMap (, )
Base.proto:119Updates an existing map
@RPC_ID=38
rpc DeleteMap (, )
Base.proto:122Deletes an existing map
@RPC_ID=39
rpc ReadAllMaps (, )
Base.proto:125Retrieves a list of all maps associated to the specified mapping
@RPC_ID=40
message
Base.proto:1550Array of maps
repeated map_list = 1
map
rpc ActivateMap (, )
Base.proto:128Activates the specified map within the specified map group and mapping
@RPC_ID=41
message
Base.proto:1530Reference to a specific new active map for the specified mapping and map group
optional mapping_handle = 1
Mapping that the active map is asked for
optional map_group_handle = 2
Map group that the active map is asked for (not implemented yet)
optional map_handle = 3
New active map
rpc CreateAction (, )
Base.proto:131Creates a new action
@RPC_ID=42
rpc ReadAction (, )
Base.proto:134Retrieves an existing action
@RPC_ID=43
rpc ReadAllActions (, )
Base.proto:137Retrieves a list of all existing actions
@RPC_ID=44
message
Base.proto:679Message used for requesting all action instances of a specific action type
ActionType action_type = 1
Action type
message
Base.proto:799Array of actions
repeated action_list = 1
Action
rpc DeleteAction (, )
Base.proto:140Deletes an existing action
@RPC_ID=45
rpc UpdateAction (, )
Base.proto:143Updates an existing action
@RPC_ID=46
Commands the robot to execute the specified existing action
@RPC_ID=47
rpc ExecuteAction (, )
Base.proto:149Commands the robot to execute the specified action
@RPC_ID=48
rpc PauseAction (, )
Base.proto:152Pauses the currently executed action. ResumeAction can be invoked afterwards
@RPC_ID=49
rpc StopAction (, )
Base.proto:155Stops the currently executed action. ResumeAction cannot be invoked afterwards
@RPC_ID=50
rpc ResumeAction (, )
Base.proto:158Resumes execution of the currently paused action
@RPC_ID=51
rpc GetIPv4Configuration (, )
Base.proto:161Retrieves the IPv4 network configuration for the specified network adapter
@RPC_ID=59
rpc SetIPv4Configuration (, )
Base.proto:164Modifies the IPv4 network configuration for the specified network adapter
@RPC_ID=60
message
Base.proto:849IPv4 configuration for a specific network
optional handle = 1
Network handle
optional ipv4_configuration = 2
IPv4 configuration
Enables (or disables) the specified communication interface
@RPC_ID=61
Determines if the specified communication interface is enabled (or disabled)
@RPC_ID=62
rpc GetAvailableWifi (, )
Base.proto:173Retrieves the list of available Wi-Fi networks
@RPC_ID=63
message
Base.proto:907Array of information about different Wi-Fi networks
repeated wifi_information_list = 1
Wi-Fi information
rpc GetWifiInformation (, )
Base.proto:176Retrieves information about a specific Wi-Fi network
@RPC_ID=64
rpc AddWifiConfiguration (, )
Base.proto:179Configures a specific Wi-Fi network
@RPC_ID=65
Deletes a specific Wi-Fi network
@RPC_ID=66
rpc GetAllConfiguredWifis (, )
Base.proto:185Retrieves the list of configured Wi-Fi networks
@RPC_ID=67
message
Base.proto:919Array of Wi-Fi connection configuration for different networks
repeated wifi_configuration_list = 1
Wi-Fi configurations
rpc ConnectWifi (, )
Base.proto:188Connects robot to specified Wi-Fi network
@RPC_ID=68
rpc DisconnectWifi (, )
Base.proto:191Disconnects the robot from the currently connected Wi-Fi network
@RPC_ID=69
Retrieves information about the connected Wi-Fi network
@RPC_ID=70
rpc Unsubscribe (, )
Base.proto:197Unsubscribes client from receiving notifications for the specified topic
@RPC_ID=97 @UNSUB
Subscribes to configuration change topic for notifications
@RPC_ID=98 @PUB_SUB=ConfigurationChangeNotification
rpc MappingInfoTopic (, )
Base.proto:203Subscribes to mapping information topic for notifications
@RPC_ID=99 @PUB_SUB=MappingInfoNotification
rpc ControlModeTopic (, )
Base.proto:206Subscribes to control mode topic for notifications
@RPC_ID=100 @PUB_SUB=ControlModeNotification @DEPRECATED="This function may be removed in a future release. It has been moved to ControlConfig service."
rpc OperatingModeTopic (, )
Base.proto:209Subscribes to operating mode topic for notifications
@RPC_ID=101 @PUB_SUB=OperatingModeNotification
rpc SequenceInfoTopic (, )
Base.proto:212Subscribes to sequence information topic for notifications
@RPC_ID=102 @PUB_SUB=SequenceInfoNotification
rpc ProtectionZoneTopic (, )
Base.proto:215Subscribes to protection zone topic for notifications
@RPC_ID=103 @PUB_SUB=ProtectionZoneNotification
rpc UserTopic (, )
Base.proto:218Subscribes to user topic for notifications
@RPC_ID=104 @PUB_SUB=UserNotification
rpc ControllerTopic (, )
Base.proto:221Subscribes to controller topic for notifications
@RPC_ID=105 @PUB_SUB=ControllerNotification
rpc ActionTopic (, )
Base.proto:224Subscribes to action topic for notifications
@RPC_ID=106 @PUB_SUB=ActionNotification
rpc RobotEventTopic (, )
Base.proto:227Subscribes to robot event topic for notifications
@RPC_ID=107 @PUB_SUB=RobotEventNotification
Moves robot to the specifed tool pose (position and orientation) while imposing specified constraints. This RPC will be deprecated in a future version and will be replaced by ExecuteWaypointTrajectory.
@RPC_ID=109 @DEPRECATED
Moves robot to the specifed position while imposing specified constraints. This RPC will be deprecated in a future version and will be replaced by ExecuteWaypointTrajectory.
@RPC_ID=110 @DEPRECATED
message
Base.proto:1760Cartesian tool position with specified constraint
optional target_position = 1
Cartesian position
optional constraint = 2
Constraint to apply to the target position
Moves to the specifed orientation while imposing specified constraints. This RPC will be deprecated in a future version and will be replaced by ExecuteWaypointTrajectory.
@RPC_ID=111 @DEPRECATED
message
Base.proto:1766Cartesian tool orientation with specified constraint
optional target_orientation = 1
Cartesian orientation
optional constraint = 2
Constraint to apply to the target orientation
rpc Stop (, )
Base.proto:242Stops robot movement
@RPC_ID=112
Retrieves the current computed tool pose (position and orientation) for the robot
@RPC_ID=115
rpc SendWrenchCommand (, )
Base.proto:248Sends a wrench command (screw consisting of force and torque) to be applied to the tool. This method is EXPERIMENTAL.
@RPC_ID=118
Sends a wrench (screw consisting of force and torque) joystick command to be applied to the tool. The wrench values sent to this call are expected to be a ratio of maximum value (between -1.0/+1.0). This method is EXPERIMENTAL.
@RPC_ID=119
Sends a twist (screw consisting of linear and angular velocity) joystick command to be applied to the tool. The twist values sent to this call are expected to be a ratio of the maximum value (between -1.0/+1.0).
@RPC_ID=120
rpc SendTwistCommand (, )
Base.proto:263Sends a twist (screw consisting of linear and angular velocity) command to be applied to the tool
@RPC_ID=121
rpc PlayJointTrajectory (, )
Base.proto:267Moves joints to the specified joint angles while imposing specified constraints. This RPC will be deprecated in a future version and will be replaced by ExecuteWaypointTrajectory.
@RPC_ID=124 @DEPRECATED
Moves specifed joint to the specifed joint angle while imposing specified constraints. This RPC will be deprecated in a future version and will be replaced by ExecuteWaypointTrajectory.
@RPC_ID=125 @DEPRECATED
message
Base.proto:1793A single joint angle value with specifed constraint
uint32 joint_identifier = 1
Joint identifier (use device_identifier)
float value = 2
Joint value (in degrees)
optional constraint = 3
Constraint to apply to the joint angle (optional)
rpc GetMeasuredJointAngles (, )
Base.proto:274Retrieves the currently measured joint angles for each joint
@RPC_ID=126
rpc SendJointSpeedsCommand (, )
Base.proto:280Sends a set of joint speed commands to all joints with one command. Joint speed commmands must be sent to all joints. If you do not want to move some of the joints, simply send a speed value of 0 degrees / second for that joint.
@RPC_ID=132
Sends a speed command for a specific joint
@RPC_ID=133
rpc SendGripperCommand (, )
Base.proto:286Sends a command to move the gripper
@RPC_ID=136
Retrieves the current gripper movement, that is the current gripper position, force or speed
@RPC_ID=137
message
Base.proto:1857Request to apply a specific gripper mode
GripperMode mode = 1
Mode for which the gripper movement status is requested
rpc SetAdmittance (, )
Base.proto:292Sets the robot in the chosen admittance mode
@RPC_ID=139
message
Base.proto:1740An admittance mode
AdmittanceMode admittance_mode = 1
mode
rpc SetOperatingMode (, )
Base.proto:295Sets a new operating mode. Only Maintenance, Update and Run modes are permitted.
@RPC_ID=141
rpc ApplyEmergencyStop (, )
Base.proto:298Stops robot movement and activates emergency stop state. You will not be able to move the robot. Use ClearFaults() to clear the stop.
@RPC_ID=145
rpc ClearFaults (, )
Base.proto:301Clears robot stop. Robot is permitted to move again.
@RPC_ID=146
rpc GetControlMode (, )
Base.proto:304Retrieves current control mode
@RPC_ID=150 @DEPRECATED="This function may be removed in a future release. It has been moved to ControlConfig service."
message
Base.proto:1100Control mode information This message may be removed in a future release. It has been moved to ControlConfig service.
ControlMode mode = 1
Control mode
rpc GetOperatingMode (, )
Base.proto:307Retrieves current operating mode
@RPC_ID=151
rpc SetServoingMode (, )
Base.proto:310Sets the servoing mode
@RPC_ID=152
rpc GetServoingMode (, )
Base.proto:313Retrieves current servoing mode
@RPC_ID=153
rpc ServoingModeTopic (, )
Base.proto:316Subscribes to servoing mode topic for notifications
@RPC_ID=154 @PUB_SUB=ServoingModeNotification
rpc RestoreFactorySettings (, )
Base.proto:319Deletes all configurations and reverts settings to their factory defaults (except network settings)
@RPC_ID=160
rpc Reboot (, )
Base.proto:322Reboots the robot
@RPC_ID=162
rpc FactoryTopic (, )
Base.proto:325Subscribes to factory topic for notifications
@RPC_ID=164 @PUB_SUB=FactoryNotification
Retrieves the list of all connected controllers
@RPC_ID=166
message
Base.proto:1265Array of references to different controllers
repeated handles = 1
Controller handle
rpc GetControllerState (, )
Base.proto:331Retrieves the state of a specified controller
@RPC_ID=167
rpc GetActuatorCount (, )
Base.proto:334Retrieves the number of actuators in the robot
@RPC_ID=171
message
Base.proto:2021A count of the number of actuators in the robot
uint32 count = 1
Number of actuators
rpc StartWifiScan (, )
Base.proto:337Initiates Wi-Fi scanning
@RPC_ID=172
rpc GetConfiguredWifi (, )
Base.proto:340Retrieves a configured Wi-Fi network
@RPC_ID=173
rpc NetworkTopic (, )
Base.proto:343Subscribes to network event notifications
@RPC_ID=174 @PUB_SUB=NetworkNotification
rpc GetArmState (, )
Base.proto:346Retrieves current robot arm state
@RPC_ID=175
message
Base.proto:2026Information about the arm state
Common.ArmState active_state = 1
Arm active state
optional connection = 2
Connection information of the last processed command which triggered an arm state change
rpc ArmStateTopic (, )
Base.proto:349Subscribes to robot arm state notifications
@RPC_ID=176 @PUB_SUB=ArmStateNotification
rpc GetIPv4Information (, )
Base.proto:352Retrieves the IPv4 network information for the specified network adapter
@RPC_ID=177
message
Base.proto:842Information about an IPv4 endpoint
uint32 ip_address = 1
IPv4 address
uint32 subnet_mask = 2
IPv4 subnet mask
uint32 default_gateway = 3
Gateway IPv4 address
rpc SetWifiCountryCode (, )
Base.proto:355Sets the Wi-Fi country code
@RPC_ID=178
rpc GetWifiCountryCode (, )
Base.proto:358Retrieves the Wi-Fi country code
@RPC_ID=179
rpc SetCapSenseConfig (, )
Base.proto:361Configures capacitive sensor on the gripper or wrist
@RPC_ID=180
rpc GetCapSenseConfig (, )
Base.proto:364Retrieves configuration of capacitive sensor on the gripper or wrist
@RPC_ID=181
Retrieves speed hard limits for all joints
@RPC_ID=183 @DEPRECATED="This function will be removed in a future release. Use GetKinematicHardLimits from the ControlConfig service instead."
Retrieves torque hard limits for all joints
@RPC_ID=184 @DEPRECATED
rpc GetTwistHardLimitation (, )
Base.proto:373Retrieves twist hard limitations
@RPC_ID=185 @DEPRECATED="This function will be removed in a future release. Use GetKinematicHardLimits from the ControlConfig service instead."
Retrieves wrench hard limitations
@RPC_ID=186 @DEPRECATED
Sends the desired joystick speeds to all joints with one command. The speed values sent to this call are expected to be a ratio of the maximum value (between -1.0/+1.0) Speeds must be sent to all joints. If you don't want to move some of the joints, send a value of 0.
@RPC_ID=187
Sends a joystick speed for a specific joint. The speed value sent to this call is expected to be a ratio of the maximum value (between -1.0/+1.0)
@RPC_ID=188
rpc EnableBridge (, )
Base.proto:392Enables TCP bridge to hardware device
@RPC_ID=193
rpc DisableBridge (, )
Base.proto:395Disables specified TCP bridge
@RPC_ID=194
rpc GetBridgeList (, )
Base.proto:398Retrieves list of created bridges
@RPC_ID=195
message
Base.proto:2061An array of configuration information for different bridges.
repeated bridgeConfig = 1
List of bridge configuration.
rpc GetBridgeConfig (, )
Base.proto:401Retrieves configuration for specified bridge
@RPC_ID=196
Plays a pre-computed angular trajectory
@RPC_ID=197
Retrieves product configuration information
@RPC_ID=198
Set new end-effector type in product configuration (Identification Number)
@RPC_ID=201
Restores product configuration to factory product configuration
@RPC_ID=206
Obtains trajectory error report listing errors for rejected trajectory. Provides some feedback on why the trajectory could not be completed.
@RPC_ID=207
Retrieves list of soft speed limits for all joints
@RPC_ID=208 @DEPRECATED="This function will be removed in a future release. Use GetKinematicSoftLimits from the ControlConfig service instead."
Retrieves list of soft torque limits for all joints
@RPC_ID=209 @DEPRECATED
rpc GetTwistSoftLimitation (, )
Base.proto:428Retrieves all twist soft limitations
@RPC_ID=210 @DEPRECATED="This function will be removed in a future release. Use GetKinematicSoftLimits from the ControlConfig service instead."
Retrieves all wrench soft limitations
@RPC_ID=211 @DEPRECATED
Sets controller configuration mode
@RPC_ID=212
Retrieves current controller configuration mode
@RPC_ID=213
rpc StartTeaching (, )
Base.proto:440Enables the teaching mode on a sequence
@RPC_ID=214
rpc StopTeaching (, )
Base.proto:443Disables the teaching mode on a sequence
@RPC_ID=215
rpc AddSequenceTasks (, )
Base.proto:446Adds tasks to the specified sequence
@RPC_ID=216
message
Base.proto:628Reference to a specific task within a sequence, and information on list of sequence tasks to be inserted
optional sequence_task_handle = 1
Sequence Handle and task index as the insertion point
repeated sequence_tasks = 2
Tasks to be inserted
message
Base.proto:640Information on a range of task indexes
uint32 first_task_index = 1
Index of first task
uint32 second_task_index = 2
Index of second task
rpc UpdateSequenceTask (, )
Base.proto:449Updates a task within the specified sequence
@RPC_ID=217
message
Base.proto:634Reference to a specific task within a sequence, and configuration information on task to be updated
optional sequence_task_handle = 1
Sequence Handle and index of task to update
optional sequence_task = 2
Configuration information on task to be updated
rpc SwapSequenceTasks (, )
Base.proto:452Swaps two task indexes in a sequence
@RPC_ID=218
rpc ReadSequenceTask (, )
Base.proto:455Reads a specific task from the specified sequence
@RPC_ID=219
rpc ReadAllSequenceTasks (, )
Base.proto:458Reads all tasks from the specified sequence
@RPC_ID=220
message
Base.proto:623Information on multiple tasks within a sequence
repeated sequence_tasks = 1
List of tasks
rpc DeleteSequenceTask (, )
Base.proto:461Deletes a specific task from the specified sequence
@RPC_ID=13
rpc DeleteAllSequenceTasks (, )
Base.proto:464Deletes all tasks from the specified sequence
@RPC_ID=14
rpc TakeSnapshot (, )
Base.proto:467Take a snapshot of current robot Cartesian, joint or gripper position
@RPC_ID=223
Retrieves current firmware bundle versions
@RPC_ID=224
message
Base.proto:2265Firmware bundle versions including main firmware bundle version and components versions
string main_bundle_version = 1
Version of the main bundle
repeated components_versions = 2
List containing all components of the bundle
Executes a trajectory defined by a series of waypoints in joint space or in Cartesian space
@RPC_ID=226
rpc MoveSequenceTask (, )
Base.proto:476Move task to new index in a sequence
@RPC_ID=227
rpc DuplicateMapping (, )
Base.proto:479Duplicates an existing mapping
@RPC_ID=228
rpc DuplicateMap (, )
Base.proto:482Duplicates an existing map
@RPC_ID=229
Sets controller configuration
@RPC_ID=230
Retrieves current controller configuration
@RPC_ID=231
Retrieves all controller configurations
@RPC_ID=232
message
Base.proto:2016Controller configuration information for multiple controllers
repeated controller_configurations = 1
List of controller configurations
Get the forward kinematics given specified angular positions of actuators
@RPC_ID=233
Get the inverse kinematics given a specified cartesian pose and guess of joint angles
@RPC_ID=234
message
Base.proto:2280Input needed for the calculation of inverse kinematics
optional cartesian_pose = 1
Cartesian pose of the end effector used to calculate the corresponding joint angles
optional guess = 2
Initial guess for the joint angles
rpc ValidateWaypointList (, )
Base.proto:503Validate a waypoint list, returns an empty trajectory error report list if the waypoint list is valid. If the use_optimal_blending option is true, a waypoint list with optimal blending will be return.
@RPC_ID=235
message
Base.proto:2219Waypoint Validation results
optional trajectory_error_report = 1
Report on the validation, the waypoint list is valid if empty
optional optimal_waypoint_list = 2
Validated Waypoint List with optimal blending radius if the option was set
rpc SetWifiEnableState (, )
Base.proto:508Enable or disable the wifi capabilities on the arm
@RPC_ID=236
rpc GetWifiEnableState (, )
Base.proto:513Get the wifi capabilities state (enabled or disabled)
@RPC_ID=237
Enable or disable the Bluetooth capabilities on the arm
@RPC_ID=238
Get the Bluetooth capabilities state (enabled or disabled)
@RPC_ID=239
message
Base.proto:684Defines an action. An action is some task performed on the robot.
Used as request type in: Base.CreateAction, Base.ExecuteAction, Base.UpdateAction
Used as response type in: Base.ReadAction
Used as field type in: , , ,
optional handle = 1
Reference to the action (useful when updating an existing action)
string name = 2
Action friendly name
string application_data = 3
Application data (reserved for use by Web App)
oneof action_parameters
send_twist_command = 4
Control the tool in velocity
send_wrench_command = 5
Control the tool in force (EXPERIMENTAL)
send_joint_speeds = 7
Action to control each joint speed
reach_pose = 9
Reach a pose given Cartesian constraints. This action will be deprecated in a future version and will be replaced by execute_waypoint_list.
reach_joint_angles = 10
Reach a series of joint angles given angular constraints. This action will be deprecated in a future version and will be replaced by execute_waypoint_list.
AdmittanceMode toggle_admittance_mode = 16
Enable or disable the admittance mode
snapshot = 17
Take a snapshot of current robot position
switch_control_mapping = 19
Switch the active controller map
JointNavigationDirection navigate_joints = 20
Select the next actuator to control in a map
NavigationDirection navigate_mappings = 21
Select a different map
change_twist = 25
Change tool twist
change_joint_speeds = 26
Change the joint speeds individually
change_wrench = 28
Change the Cartesian force
apply_emergency_stop = 31
Apply robot emergency stop
clear_faults = 32
Clear faults. Robot will be able to move if there is no more fault (see BaseCyclic.BaseFeedback.[fault_bank_a | fault_bank_b])
delay = 34
Apply a delay
execute_action = 35
Execute an existing action
send_gripper_command = 36
Send a gripper command
send_gpio_command = 37
Send a gpio command (not implemented yet)
stop_action = 38
Stop movement
play_pre_computed_trajectory = 39
Play a pre-computed joint trajectory
execute_sequence = 40
Execute an existing sequence
execute_waypoint_list = 41
Execute a trajectory defined by a series of waypoints
Admissible action event types
Used in: ,
UNSPECIFIED_ACTION_EVENT = 0
Unspecified action event
ACTION_END = 1
Action execution end reached
ACTION_ABORT = 2
Action execution aborted
ACTION_PAUSE = 3
Action execution paused
ACTION_START = 4
Action execution started
ACTION_PREPROCESS_START = 5
Action pre-process started
ACTION_PREPROCESS_ABORT = 6
Action pre-process aborted
ACTION_PREPROCESS_END = 7
Action pre-process ended
ACTION_POSTPROCESS_START = 8
Action post-process started
ACTION_POSTPROCESS_ABORT = 9
Action post-process aborted
ACTION_POSTPROCESS_END = 10
Action post-process ended
ACTION_FEEDBACK = 11
Action feedback received
message
Base.proto:1333Indicates the execution state of an action (not implemented yet)
ActionEvent action_event = 1
Action event type
optional handle = 2
Identifies the action for which this event occured
message
Base.proto:672Reference to a specific action
Used as request type in: Base.DeleteAction, Base.ExecuteActionFromReference, Base.ReadAction
Used as response type in: Base.CreateAction
Used as field type in: , , ,
uint32 identifier = 1
Action identifier
ActionType action_type = 2
Action type
fixed32 permission = 3
Permission of specified Action entity. Must use 'Kinova.Api.Common.Permission' enum.
message
Base.proto:1315Notification about a single action event
Used in:
ActionEvent action_event = 1
Action event type
optional handle = 2
Identifies the action for which this event occured
optional timestamp = 3
Event timestamp
optional user_handle = 4
User that caused the action event
SubErrorCodes abort_details = 5
Details if action_event is equal to ACTION_ABORT
optional connection = 6
Connection that caused the action event
repeated trajectory_info = 7
Additional information from the current action
message
Base.proto:1456Array of action notifications
repeated notifications = 1
Notification
Admissible types of actions
Used in: ,
UNSPECIFIED_ACTION = 0
Unspecified action type
SEND_TWIST_COMMAND = 1
Control the robot in Cartesian velocity
SEND_WRENCH_COMMAND = 2
Control the robot in force
SEND_JOINT_SPEEDS = 4
Control each joint speed
REACH_POSE = 6
Reach a pose
REACH_JOINT_ANGLES = 7
Reach a series of joint angles
TOGGLE_ADMITTANCE_MODE = 13
Enable or disable the admittance mode
SNAPSHOT = 14
Take a snapshot of current robot position
SWITCH_CONTROL_MAPPING = 16
Switch the active controller map
NAVIGATE_JOINTS = 17
Select the next actuator to control from control mapping
NAVIGATE_MAPPINGS = 18
Select a different map
CHANGE_TWIST = 22
Change the twist
CHANGE_JOINT_SPEEDS = 23
Change the joint speeds individually
CHANGE_WRENCH = 25
Change the Cartesian force
APPLY_EMERGENCY_STOP = 28
Apply robot emergency stop
CLEAR_FAULTS = 29
Clear faults. Robot will be able to move if there is no more fault (see BaseCyclic.BaseFeedback.[fault_bank_a | fault_bank_b])
TIME_DELAY = 31
Apply a delay
EXECUTE_ACTION = 32
Execute an existing action
SEND_GRIPPER_COMMAND = 33
Send a gripper command
SEND_GPIO_COMMAND = 34
Send a gpio command (not implemented yet)
STOP_ACTION = 35
Stop robot movement
PLAY_PRE_COMPUTED_TRAJECTORY = 39
Play a pre-computed trajectory
EXECUTE_SEQUENCE = 40
Execute an existing sequence
EXECUTE_WAYPOINT_LIST = 41
Execute a trajectory defined by a series of waypoints
Admissible admittance modes
Used in: ,
UNSPECIFIED_ADMITTANCE_MODE = 0
Unspecified admittance mode
CARTESIAN = 1
Cartesian admittance mode
JOINT = 2
Joint admittance mode
NULL_SPACE = 3
Null space admittance mode
DISABLED = 4
No admittance
message
Base.proto:2235An angular Waypoint
Used in:
repeated float angles = 1
Target position (in deg)
repeated float maximum_velocities = 2
Maximum velocities for each actuator (in deg/s) during movement (optional)
float duration = 3
Duration to reach this waypoint from the previous position (in seconds)
message
Base.proto:666Representation of the result of appending (adding at the end) an action to an existing sequence (not implemented yet)
optional sequence_handle = 1
Sequence to which action must be appended
optional action = 2
Action to append
message
Base.proto:2032Notification about a single arm state event
Common.ArmState active_state = 1
New arm state
optional timestamp = 2
Event timestamp
optional connection = 3
Connection that caused the arm state event
Admissible backup events (not implemented yet)
UNSPECIFIED_BACKUP_EVENT = 0
Unspecified backup event
BACKUP_RESTORED = 1
Configuration backup restored
BACKUP_UPLOADED = 2
Configuration backup uploaded on robot
message
Base.proto:876Used as request type in: Base.SetBluetoothEnableState
Used as response type in: Base.GetBluetoothEnableState
Used as field type in:
bool enabled = 1
message
Base.proto:2078Bridge configuration information. It is used to either create a bridge or to retrieve information about an existing bridge
Used as request type in: Base.EnableBridge
Used as response type in: Base.GetBridgeConfig
Used as field type in:
uint32 device_identifier = 1
Identifier of the device to which the bridge is connecting.
BridgeType bridgetype = 2
Bridge type.
optional port_config = 3
Port configuration. If used to enable port bridging, it is optional. If no port config is given defaults for bridge type is used.
optional bridge_id = 4
Bridge identifier. Not used when creating bridge. It is used when retrieving configuration.
message
Base.proto:2073Bridge identifier
Used as request type in: Base.DisableBridge, Base.GetBridgeConfig
Used as field type in: ,
uint32 bridge_id = 1
Unique bridge identifier.
message
Base.proto:2086Port configuration information for a TCP port bridge
Used in:
uint32 target_port = 1
Port on target device.
uint32 out_port = 2
Port exposed on base's external interface
message
Base.proto:2066The result of an operation on a specific bridge
Used as response type in: Base.DisableBridge, Base.EnableBridge
optional bridge_id = 1
ID of the bridge on which operation was performed
BridgeStatus status = 2
Result code of operation.
Bridge operation status
Used in:
BRIDGE_STATUS_OK = 0
No error encountered.
BRIDGE_STATUS_OUTP_UNAVAILABLE = 1
Requested output port unavailable.
BRIDGE_STATUS_UNKNOWN_DEVID = 2
Given device identifier is unknown (no device associated with it).
BRIDGE_STATUS_UNKNOWN_BRIDGE_TYPE = 3
Unknown bridge type used.
BRIDGE_STATUS_NOT_FOUND = 4
Requested bridge not found.
BRIDGE_STATUS_NOT_INITIALIZED = 5
Bridge manager not initialized.
BRIDGE_STATUS_UNKNOWN = 6
Unknown error.
Type of port forward bridge to create
Used in:
BRIDGE_TYPE_UNSPECIFIED = 0
Unspecified Type (custom bridge)
BRIDGE_TYPE_UART = 1
Bridge to uart bridge TCP port.
BRIDGE_TYPE_TELNET = 2
Bridge to telnet port
message
Base.proto:2050Capacitive sensor configuration information
Used as request type in: Base.SetCapSenseConfig
Used as response type in: Base.GetCapSenseConfig
uint32 identifier = 1
MessageId
CapSenseMode mode = 2
Operational mode of the sensor
float threshold_a = 3
Threshold of the sensor A (successive detection count to trigger a change of state)
float threshold_b = 4
Threshold of the sensor B (successive detection count to trigger a change of state)
float sensitivity_a = 5
Sensitivity of the sensor A (picofarad)
float sensitivity_b = 6
Sensitivity of the sensor B (picofarad)
Admissible capacitive sensor modes
Used in:
RESERVED = 0
Reserved, do not use
INACTIVE = 1
Cap sensor is inactive
ACTIVE_AUTO_THRESHOLD = 2
Cap sensor is active in automatic threshold mode
ACTIVE_NOISE_ATT = 4
Cap sensor is active with noise mitigation enabled
ACTIVE_NORMAL = 5
Cap sensor is active in normal mode
CONFIGURATION = 6
Configuration mode
message
Base.proto:1000Translation and orientation limits for a specified limit type for Cartesian configuration
Used in: ,
LimitationType type = 1
Limitation type
float translation = 2
Translation limitation
float orientation = 3
Orientation limitation
message
Base.proto:1019Array of Cartesian limitations
repeated limitations = 1
Limitation
message
Base.proto:1693A Cartesian tool speed (translation speed and angular speed)
Used in:
float translation = 1
Translation speed (in meters per second)
float orientation = 2
Orientation speed (in degrees per second) (not implemented yet)
message
Base.proto:1699Cartesian trajectory constraint that can be applied when controlling in Cartesian trajectory mode
Used in: , ,
oneof type
speed = 1
Speed constraint
float duration = 2
Duration constraint (in seconds) (not implemented yet)
message
Base.proto:2242A Cartesian Waypoint
Used in:
optional pose = 1
Target Cartesian Pose
Common.CartesianReferenceFrame reference_frame = 2
The reference frame used for the goal Pose
float maximum_linear_velocity = 3
Maximum linear velocity (in m/s) during movement (optional)
float maximum_angular_velocity = 4
Maximum angular velocity (in deg/s) during movement (optional)
float blending_radius = 5
Blending radius (in m) to use for the movement (if this waypoint is not an endpoint).
message
Base.proto:771Action to change the maximum angular velocity per joint by a specific increment
Used in:
optional joint_speeds = 1
Joint speeds
message
Base.proto:765Action to change the maximum Cartesian velocity by a specific increment
Used in:
float linear = 1
Linear Cartesian velocity increment (in meters per second)
float angular = 2
Angular Cartesian velocity increment (in degrees per second)
message
Base.proto:776Action to change the maximum Cartesian force by a specific increment
Used in:
float force = 1
Linear force increment (in Newton)
float torque = 2
Angular torque increment (in Newton*meters)
message
Base.proto:814Configuration information for enabling or disabling a specific communication interface (e.g. Wi-Fi, Wired Ethernet)
Used as request type in: Base.SetCommunicationInterfaceEnable
Used as response type in: Base.IsCommunicationInterfaceEnable
NetworkType type = 1
Network type (e.g. Wi-Fi, Wired Ethernet)
bool enable = 2
Enable configuration. Set to true to enable network, false otherwise
message
Base.proto:1052Representation of a configuration change event
Used in:
ConfigurationNotificationEvent event = 1
Configuration event
optional timestamp = 2
Event timestamp
optional user_handle = 3
User that caused the configuration event
oneof configuration_change
sequence_handle = 4
Sequence for which the configuration changed
action_handle = 5
Action for which the configuration changed
mapping_handle = 6
Mapping for which the configuration changed
map_group_handle = 7
Map group for which the configuration changed
map_handle = 8
Map for which the configuration changed
user_profile_handle = 9
User Profile for which the configuration changed
protection_zone_handle = 10
Protection zone for which the configuration changed
safety_handle = 11
Safety for which the configuration changed
network_handle = 12
Network element for which the configuration changed
ssid = 14
Wi-Fi instance for which the configuration changed
controller_handle = 16
Controller instance for which the configuration changed
optional connection = 15
Connection that caused the configuration event
message
Base.proto:1406Array of configuration change notifications
repeated notifications = 1
Notification
Admissible configuration events
Used in:
UNSPECIFIED_CONFIGURATION_EVENT = 0
Unspecified configuration event
CONFIGURATION_UPDATED = 1
Configuration deleted
CONFIGURATION_DELETED = 2
Configuration updated
CONFIGURATION_DELETED_ALL = 3
All configurations deleted
CONFIGURATION_CREATED = 4
Configuration created
message
Base.proto:1787An array of joint angles values with specified constraint
Used as request type in: Base.PlayJointTrajectory
Used as field type in:
optional joint_angles = 1
Joint angles values
optional constraint = 2
Constraint to apply to all the joint angles (optional)
message
Base.proto:1754Cartesian tool pose with specified constraint
Used as request type in: Base.PlayCartesianTrajectory
Used as field type in:
optional target_pose = 1
Cartesian pose
optional constraint = 2
Constraint to apply to the target pose
Admissible robot control modes. This enum may be removed in a future release. It has been moved to ControlConfig service.
Used in: ,
UNSPECIFIED_CONTROL_MODE = 0
Unspecified control mode
ANGULAR_JOYSTICK = 1
Angular joystick mode
CARTESIAN_JOYSTICK = 2
Cartesian joystick mode
ANGULAR_TRAJECTORY = 4
Angular trajectory mode
CARTESIAN_TRAJECTORY = 5
Cartesian trajectory mode
CARTESIAN_ADMITTANCE = 6
Cartesian admittance mode
JOINT_ADMITTANCE = 7
Joint admittance mode
NULL_SPACE_ADMITTANCE = 8
Null space mode
FORCE_CONTROL = 10
Force control mode
FORCE_CONTROL_MOTION_RESTRICTED = 11
Force control motion restricted mode
IDLE = 13
Idle
message
Base.proto:1105Notification about a single control mode event
Used in:
ControlMode control_mode = 1
New control mode
optional timestamp = 2
Event timestamp
optional user_handle = 3
User that caused the control mode event
optional connection = 4
Connection that caused the control mode event
message
Base.proto:1416Array of control mode notifications
repeated notifications = 1
Notification
Admissible controller input behaviors
Used in:
UNSPECIFIED_CONTROLLER_BEHAVIOR = 0
Unspecified controller behavior
CONTROLLER_BUTTON_DOWN = 1
Pushing button down
CONTROLLER_BUTTON_UP = 2
Releasing button
CONTROLLER_AXIS_POSITIVE = 3
Positive axis movement
CONTROLLER_AXIS_NEGATIVE = 4
Negative axis movement
CONTROLLER_BUTTON_CLICK = 5
Button down and up within X msec
message
Base.proto:2007Controller configuration information
Used as request type in: Base.SetControllerConfiguration
Used as response type in: Base.GetControllerConfiguration
Used as field type in:
optional handle = 1
Controller identifier
string name = 2
Controller friendly name
optional active_mapping_handle = 3
Mapping that is active on this controller
string analog_input_identifier_enum = 4
Name that identifies the enum used to interpret the ‘analog_input_identifier’ field (for example in ControllerEvent). Thus 'analog_input_identifier_enum' shall take the name of an existing enum (ex. Xbox360AnalogInputIdentifier)
string digital_input_identifier_enum = 5
Name that identifies the enum used to interpret the ‘digital_input_identifier’ field (for example in ControllerEvent). Thus 'digital_input_identifier_enum' shall take the name of an existing enum (ex. Xbox360DigitalInputIdentifier, WristDigitalInputIdentifier)
message
Base.proto:2002Controller configuration mode information
Used as request type in: Base.SetControllerConfigurationMode
Used as response type in: Base.GetControllerConfigurationMode
bool enable = 1
Enable controller configuration mode. Set to true to configure controllers, false for normal operation
Admissible controller element event types
Used in:
UNSPECIFIED_CONTROLLER_ELEMENT_EVENT = 0
Unspecified controller element event
AXIS_MOVED = 1
Controller axis moved
BUTTON_DOWN = 2
Controller button pressed
BUTTON_UP = 3
Controller button released
BUTTON_CLICK = 4
Controller button clicked
message
Base.proto:1245Reference ro a specific button (or axis) of a controller device
Used in:
optional controller_handle = 1
Controller handle
oneof identifier
uint32 button = 2
Button identifier (only set if 'button' controller event, otherwise zero)
uint32 axis = 3
Axis identifier (only set if 'axis' controller event, otherwise zero)
message
Base.proto:1276Indicates if a specific button (or axis) was pressed (or moved)
Used in:
optional handle = 1
Controller element handle
ControllerElementEventType event_type = 2
Type of controller element event that occured
float axis_value = 3
Axis value (set between -1.0 and 1.0); only set if 'axis' controller element, otherwise set to zero
message
Base.proto:1499A controller event
Used in:
ControllerInputType input_type = 1
Type of controller input that caused the event_identifier
ControllerBehavior behavior = 2
Controller behavior that occured
uint32 input_identifier = 3
Controller input that caused the event
Admissible controller event types
Used in:
UNSPECIFIED_CONTROLLER_EVENT = 0
Unspecified controller event
CONTROLLER_DISCONNECTED = 1
Controller is disconnected
CONTROLLER_CONNECTED = 2
Controller is connected
message
Base.proto:1239Reference to a specific controller device
Used as request type in: Base.GetControllerConfiguration, Base.GetControllerState
Used as field type in: , , , ,
ControllerType type = 1
Controller device type
uint32 controller_identifier = 2
Controller device identifier
Admissible controller input types
Used in: ,
UNSPECIFIED_CONTROLLER_INPUT_TYPE = 0
Unspecified controller input type
ANALOG = 1
Analog controller input type
DIGITAL = 2
Digital controller input type
message
Base.proto:1254Notification about a single controller event
Used in:
oneof state
controller_state = 1
Used to indicate if a controller connection or disconnection event occured
controller_element = 2
Used to indicate if a specific button (or axis) was pressed (or moved)
optional timestamp = 3
Event timestamp
optional user_handle = 4
User that caused the controller event
optional connection = 5
Connection that caused the controller event
message
Base.proto:1451Array of controller notifications
repeated notifications = 1
Notifications
message
Base.proto:1270Indicates if a specific controller is connected (or disconnected)
Used as response type in: Base.GetControllerState
Used as field type in:
optional handle = 1
Controller identifier
ControllerEventType event_type = 2
Type of controller event that occured
Admissible controller types
Used in:
UNSPECIFIED_CONTROLLER_TYPE = 0
Unspecified controller device type
XBOX_CONTROLLER = 1
Xbox gamepad
WRIST_CONTROLLER = 2
Wrist buttons
BASIC_JOYSTICK_CONTROLLER = 3
Simplified joystick connected to Kinova robot base
BASE_GPIO_CONTROLLER = 4
GPIO Controller
GPIO_JOYSTICK = 5
TEMP, will be deleted
message
Base.proto:790Action to apply a delay
Used in:
uint32 duration = 1
Delay (in seconds)
message
Base.proto:782Action to force an emergency of the robot
Used in:
(message has no fields)
Admissible sequence event types
Used in: ,
UNSPECIFIED_SEQUENCE_EVENT = 0
Unspecified sequence event
SEQUENCE_COMPLETED = 1
Sequence completed successfully
SEQUENCE_ABORTED = 2
Sequence aborted
SEQUENCE_PAUSED = 3
Sequence paused
SEQUENCE_TASK_STARTED = 4
Sequence task started
SEQUENCE_TASK_COMPLETED = 5
Sequence task completed
SEQUENCE_STARTED = 6
Sequence started
Admissible factory events
Used in:
UNSPECIFIED_FACTORY_EVENT = 0
Unspecified factory event
FACTORY_DEFAULT_RESTORED = 1
Factory defaults restored on robot
NETWORK_FACTORY_DEFAULT_RESTORED = 2
Network factory defaults restored on robot (not implemented yet)
message
Base.proto:1371Notification about a single factory event
FactoryEvent event = 1
Event type
optional timestamp = 2
Event timestamp
optional user_handle = 3
User that caused the factory event to occur
optional connection = 4
Connection that caused the factory event to occur
message
Base.proto:786Action to clear faults
Used in:
(message has no fields)
message
Base.proto:1867Movement of a specified gripper finger
Used in:
uint32 finger_identifier = 1
Finger identifier
float value = 2
In position, admissible values for each finger is between 0 and 1.0, where 0 is fully open and 1.0 is fully closed. In speed or torque, admissible values for each finger is between -1.0 and 1.0, where 1.0 corresponds to maximum opening speed or torque and -1.0 corresponds to maximum closing speed or torque.
message
Base.proto:2272Individual component with its version
Used in:
string name = 1
Name of the component
string version = 2
Version of the component
uint32 device_id = 3
Device id of the component
Available GPIO PIN (See the user guide at section Base expansion connector)
UNSPECIFIED_PIN = 0
Unspecified PIN ID
GPIO_PIN_B = 1
GPIO PIN B
GPIO_PIN_C = 2
GPIO PIN C
GPIO_PIN_D = 3
GPIO PIN D
GPIO_PIN_E = 4
GPIO PIN E
GPIO_PIN_G = 5
GPIO PIN G
GPIO_PIN_H = 6
GPIO PIN H
GPIO_PIN_I = 7
GPIO PIN I
GPIO_PIN_K = 8
GPIO PIN K
GPIO_PIN_N = 9
GPIO PIN N
GPIO_PIN_O = 10
GPIO PIN O
GPIO_PIN_S = 11
GPIO PIN S
GPIO_PIN_T = 12
GPIO PIN T
Admissible GPIO actions
Used in:
UNSPECIFIED_GPIO_ACTION = 0
Unspecified gpio action
GPIOACTION_SET = 1
Set GPIO output
GPIOACTION_CLEAR = 2
Clear GPIO output
GPIOACTION_PULSE_HIGH = 3
Pulse high GPIO output with specified period
GPIOACTION_PULSE_LOW = 4
Pulse low GPIO output with specified period
Admissible GPIO behavior
Used in:
UNSPECIFIED_GPIO_BEHAVIOR = 0
Unspecified GPIO behavior
GPIO_FALLING = 1
Falling edge
GPIO_RISING = 2
Rising edge
GPIO_PULSE_LOW = 3
Sequence of HIGH - LOW - HIGH
GPIO_PULSE_HIGH = 4
Sequence of LOW - HIGH - LOW
GPIO_ANALOG_CHANGE = 5
Analog input value change
message
Base.proto:1879A command to control expansion port's GPIO
Used in:
uint32 port_identifier = 1
Gpio port identifier (0 == base expansion port)
uint32 pin_identifier = 2
Gpio pin identifier
GpioAction action = 3
Action to perform on gpio
uint32 period = 4
Period, in ms, of GPIO action (applicable only for pulse commands)
message
Base.proto:532GPIO port configuration information
Used in:
uint32 port_number = 1
Port number (Base extension port is port 0)
repeated pin_configurations = 2
Pin configuration list
message
Base.proto:527List of GPIO port configurations
repeated port_configurations = 1
Port configuration list
message
Base.proto:1506A GPIO event
Used in:
ControllerInputType input_type = 1
Type of controller input that caused the event_identifier
GpioBehavior behavior = 2
GPIO behavior that occured
uint32 input_identifier = 3
GPIO PIN ID that caused the event
message
Base.proto:538GPIO pin configuration information
Used in:
uint32 pin_id = 1
Pin identifier
GpioPinPropertyFlags pin_property = 2
Pin property (read only)
bool output_enable = 3
Pin is configured as output if set to TRUE. If output is enabled, input events are masked.
bool default_output_value = 4
Default output pin value. This is the value set when pin is initialized (TRUE == high / FALSE == low).
Admissible gpio pin properties
Used in:
GPIOPROPERTY_UNKNOWN = 0
GPIOPROPERTY_INPUT = 1
0x1 : Pin can be used as digital input
GPIOPROPERTY_OUTPUT = 2
0x2 : Pin can be used as digital output
GPIOPROPERTY_ANALOG = 4
0x4 : Pin can be used as analog input
message
Base.proto:1862Gripper movement composed of a series of fingers movement
Used as response type in: Base.GetMeasuredGripperMovement
Used as field type in:
repeated finger = 1
Finger movements
message
Base.proto:1845A command to control the gripper movement
Used as request type in: Base.SendGripperCommand
Used as field type in:
GripperMode mode = 1
Mode in which to control the gripper
optional gripper = 2
In position, admissible values for each finger is between 0 and 1.0, where 0 is fully open and 1.0 is fully closed. In speed, admissible values for each finger is between -1.0 and 1.0, where 1.0 corresponds to maximum opening speed and -1.0 corresponds to maximum closing speed.
Gripper movement values
uint32 duration = 3
Duration constraint. If not 0, allows to set a limit (in seconds) to the GripperCommand
Admissible gripper control mode
Used in: ,
UNSPECIFIED_GRIPPER_MODE = 0
Unspecified gripper mode
GRIPPER_FORCE = 1
Force control (in Newton) (not implemented yet)
GRIPPER_SPEED = 2
Speed control (in meters per second)
GRIPPER_POSITION = 3
Position control (in meters)
message
Base.proto:834IPv4 configuration information
Used as response type in: Base.GetIPv4Configuration
Used as field type in:
uint32 ip_address = 1
IPv4 address
uint32 subnet_mask = 2
IPv4 subnet mask
uint32 default_gateway = 3
Gateway IPv4 address
bool dhcp_enabled = 4
Enable automatic (DHCP) IPv4 configuration. Set to true to enable DHCP instead of static configuration.
message
Base.proto:1805Angle value of a specific joint
Used in:
uint32 joint_identifier = 1
Joint identifier
float value = 2
Position (in degrees)
message
Base.proto:1800An array of joint angles
Used as request type in: Base.ComputeForwardKinematics
Used as response type in: Base.ComputeInverseKinematics, Base.GetMeasuredJointAngles
Used as field type in: ,
repeated joint_angles = 1
Array of joint angles
message
Base.proto:1024Limitation for a specified robot joint
Used in:
uint32 joint_identifier = 1
Joint device identifier
LimitationType type = 2
Joint limitation type
float value = 3
Joint limitation value
Admissible joint navigation directions
Used in:
UNSPECIFIED_JOINT_NAVIGATION_DIRECTION = 0
Unspecified joint navigation direction
JOINT_NEXT = 1
Go to next joint
JOINT_PREVIOUS = 2
Go to previous joint
message
Base.proto:1817Speed of a specific joint
Used as request type in: Base.SendSelectedJointSpeedCommand, Base.SendSelectedJointSpeedJoystickCommand
Used as field type in:
uint32 joint_identifier = 1
Joint identifier
float value = 2
Joint speed (in degrees per second)
uint32 duration = 3
Duration constraint. If not 0, allows to set a limit (in seconds) to the JointsSpeed (not implemented yet)
message
Base.proto:1811An array of joints speeds
Used as request type in: Base.SendJointSpeedsCommand, Base.SendJointSpeedsJoystickCommand
Used as field type in: ,
repeated joint_speeds = 1
Array of joint speeds
uint32 duration = 2
Duration constraint. If not 0, allows to set a limit (in seconds) common to every joint specified in 'joint_speeds' (not implemented yet)
message
Base.proto:1830joint torque for a specified joint
Used in:
uint32 joint_identifier = 1
Joint identifier
float value = 2
Joint speed (in Newton*meters)
uint32 duration = 3
Duration constraint. If not 0, allows to set a limit (in seconds) to the JointTorque (not implemented yet)
message
Base.proto:1824An array of joint torques
repeated joint_torques = 1
Array of joint torque.
uint32 duration = 2
Duration constraint. If not 0, allows to set a limit (in seconds) common to every joint specified in 'joint_torques' (not implemented yet)
message
Base.proto:1707Joint trajectory constraint that can be applied when controlling a joint in trajectory mode
Used in: ,
JointTrajectoryConstraintType type = 1
Joint trajectory constraint type
float value = 2
Constraint value (in seconds or in meters per second depending on constraint type)
Admissible constraint types that can be applied when controlling a joint in trajectory mode
Used in:
UNSPECIFIED_JOINT_CONSTRAINT = 0
Unspecified joint constraint
JOINT_CONSTRAINT_DURATION = 1
Duration constraint (in second)
JOINT_CONSTRAINT_SPEED = 2
Speed constraint (in meters per second)
message
Base.proto:1031Array of joint limitations
Used as response type in: Base.GetAllJointsSpeedHardLimitation, Base.GetAllJointsSpeedSoftLimitation, Base.GetAllJointsTorqueHardLimitation, Base.GetAllJointsTorqueSoftLimitation
repeated joints_limitations = 1
Joints Limitations
message
Base.proto:2258Angular and Cartesian kinematic constraints (maximum velocities)
repeated float angular_velocities = 1
Angular velocities for each actuator (in deg/s)
float linear_velocity = 2
Linear velocity (in m/s)
float angular_velocity = 3
Angular velocity (in deg/s)
Admissible LED states (not implemented yet)
UNSPECIFIED_LED_STATE = 0
Unspecified LED state
LED_OFF = 1
LED is off
LED_PULSE = 2
LED is in pulse state
LED_ON = 3
LED is one
Admissible limitation types
Used in: ,
UNSPECIFIED_LIMITATION = 0
Unspecified limitation
FORCE_LIMITATION = 1
Force limitation (not implemented yet)
ACCELERATION_LIMITATION = 2
Acceleration limitation (not implemented yet)
VELOCITY_LIMITATION = 3
Velocity limitation
TORQUE_LIMITATION = 4
Torque limitation
message
Base.proto:1537A map as an array of map elements
Used as request type in: Base.CreateMap, Base.UpdateMap
Used as response type in: Base.ReadMap
Used as field type in:
optional handle = 1
Map handle (do not set on createMap() call)
string name = 2
Map friendly name
repeated elements = 3
Array of map elements
message
Base.proto:1523Associates an event to an action
Used in:
optional event = 1
Map event that occured
optional action = 2
Action to invoke upon event occurence
string name = 3
Map element friendly name
message
Base.proto:1513A map event
Used in:
oneof events
safety_event = 1
Mapped safety event (not implemented yet)
gpio_event = 2
Mapped GPIO event
controller_event = 3
Mapped controller event
string name = 4
Map event friendly name
message
Base.proto:1564All information about a map group including the list of maps that it contains and its relationship versus other map groups (not implemented yet)
Used in:
optional group_handle = 1
Map group handle (do not set on createMapGroup() call)
string name = 2
Map group friendly name
optional related_mapping_handle = 3
Mapping that this map group belongs to
optional parent_group_handle = 4
Parent map group (if any)
repeated children_map_group_handles = 5
Children map groups (if any)
repeated map_handles = 6
Array of maps that are included in this map group
string application_data = 7
Application data (reserved for use by Web App)
message
Base.proto:1555Reference to a specific map group (not implemented yet)
Used in: , , , ,
uint32 identifier = 1
Identifier
fixed32 permission = 2
Permission of specified map group entity. Must use 'Kinova.Api.Common.Permission' enum.
message
Base.proto:1575Array of map groups (not implemented yet)
repeated map_groups = 1
Map group
message
Base.proto:1544Reference to a specific map
Used as request type in: Base.DeleteMap, Base.DuplicateMap, Base.ReadMap
Used as response type in: Base.CreateMap, Base.DuplicateMap
Used as field type in: , , , , , ,
uint32 identifier = 1
Identifier
fixed32 permission = 2
Permission of specified map entity. Must use 'Kinova.Api.Common.Permission' enum.
message
Base.proto:1584All information about a mapping including the controller to which it is associated, the array of map groups it contains, the currently active map group, the array of maps it contains and the currently active map
Used as request type in: Base.CreateMapping, Base.UpdateMapping
Used as response type in: Base.ReadMapping
Used as field type in:
optional handle = 1
Mapping handle (do not set on createMapping() call)
string name = 2
Mapping friendly name
uint32 controller_identifier = 3
Associated controller identifier
optional active_map_group_handle = 4
Currently active map group (not implemented yet)
repeated map_group_handles = 5
Array of associated map groups (not implemented yet)
optional active_map_handle = 6
Currently active map
repeated map_handles = 7
Array of associated maps
string application_data = 8
Application data (reserved for use by Web App)
message
Base.proto:1471Reference to a specific Mapping
Used as request type in: Base.DeleteMapping, Base.DuplicateMapping, Base.ReadAllMaps, Base.ReadMapping
Used as response type in: Base.CreateMapping, Base.DuplicateMapping
Used as field type in: , , , , ,
uint32 identifier = 1
Mapping identifier
fixed32 permission = 2
Permission of specified mapping entity. Must use 'Kinova.Api.Common.Permission' enum.
message
Base.proto:1073Notification about a single mapping information event
Used in:
uint32 controller_identifier = 1
Identifier of the controller
optional active_map_handle = 2
New active map
optional timestamp = 3
Event timestamp
optional user_handle = 4
User that caused the mapping information event
optional connection = 5
Connection that caused the mapping information event
optional mapping_handle = 6
Mapping for which the map was activated
message
Base.proto:1411Array of mapping information notifications
repeated notifications = 1
Notification
Admissible map navigation directions
Used in:
UNSPECIFIED_NAVIGATION_DIRECTION = 0
Unspecified navigation direction
NEXT = 1
Go to next map
UP = 2
Go to parent map group (not implemented yet)
DOWN = 3
Go to children map group (not implemented yet)
PREVIOUS = 4
Go to previous map
Admissible network events
Used in:
UNSPECIFIED_NETWORK_EVENT = 0
Unspecified network event
WIFI_CONNECTED = 1
Wi-Fi connected
WIFI_DISCONNECTED = 2
Wi-Fi Disconnected
WIFI_SCAN_STARTED = 3
Wi-Fi scan was initiated
WIFI_SCAN_RESULTS = 4
Wi-Fi scan results are available
WIFI_SCAN_FAILED = 5
Wi-Fi scan failed
WIFI_NOT_FOUND = 6
Wi-Fi selected network not found
WIFI_ASSOC_REJECTED = 7
Wi-Fi AP rejected association
WIFI_AUTH_WRONG_KEY = 8
Wi-Fi wrong PSK supplied
WIFI_AUTH_CONN_FAILED = 9
Wi-Fi connection failure during auth
WIFI_AUTH_FAILED = 10
Wi-Fi authentication failure
WIFI_ENABLED = 11
Wi-Fi has been enabled
WIFI_DISABLED = 12
Wi-Fi has been disabled
BLUETOOTH_ENABLED = 13
Bluetooth has been enabled
BLUETOOTH_DISABLED = 14
Bluetooth has been disabled
message
Base.proto:829Reference to a network
Used as request type in: Base.GetIPv4Configuration, Base.GetIPv4Information, Base.IsCommunicationInterfaceEnable
Used as field type in: ,
NetworkType type = 1
Network type
message
Base.proto:1398Notification about a single network event
Used in:
NetworkEvent event = 1
Event type
optional timestamp = 2
Event timestamp
optional user_handle = 3
User that caused the network event to occur
optional connection = 4
Connection that caused the network event to occur
message
Base.proto:1466Array of network event notifications
repeated notifications = 1
Notification
Admissible network types
Used in: ,
UNSPECIFIED_NETWORK_TYPE = 0
Unspecified network type
WIFI = 1
Wi-Fi network
WIRED_ETHERNET = 2
Wired Ethernet network
WIRED_MICROUSB = 3
Wired Ethernet over USB network (RNDIS)
WIRED_USB = 4
This enum value is deprecated and will be removed in a future release.
Admissible robot operating modes (used to report robot firmware upgrade current state)
Used in: ,
UNSPECIFIED_OPERATING_MODE = 0
Unspecified operating mode
MAINTENANCE_MODE = 1
Robot in maintenance mode
UPDATE_MODE = 2
Robot waiting for upgrade package
UPDATE_COMPLETED_MODE = 3
Robot update successfully completed
UPDATE_FAILED_MODE = 4
Robot update failed
SHUTTING_DOWN_MODE = 5
Robot about to shutdown
RUN_MODE = 6
Robot properly running (or normal operation mode)
UPDATING_DEVICE_MODE = 7
Robot updating device
message
Base.proto:1138Information about the operating mode
Used as request type in: Base.SetOperatingMode
Used as response type in: Base.GetOperatingMode
OperatingMode operating_mode = 1
Operating mode
optional device_handle = 2
Device matching operating mode (if applicable)
message
Base.proto:1144Notification about a single operating mode event
Used in:
OperatingMode operating_mode = 1
New operating mode
optional timestamp = 2
Event timestamp
optional user_handle = 3
User that caused the operating mode event
optional connection = 4
Connection that caused the operating mode event
optional device_handle = 5
Device matching operating mode (if applicable)
message
Base.proto:1421Array of operating mode notifications
repeated notifications = 1
Notification
message
Base.proto:1679A Cartesian tool orientation. Defines orientation as sequence of three Euler angles using x-y-z Tait-Bryan extrinsic convention. That is, rotation around fixed X-axis, then rotation around fixed Y-axis, then rotation around fixed Z-axis.
Used in:
float theta_x = 1
Theta X orientation (in degrees)
float theta_y = 2
Theta Y orientation (in degrees)
float theta_z = 3
Theta Z orientation (in degrees)
message
Base.proto:951Coordinates of a Cartesian point
Used in:
float x = 1
x (in meters)
float y = 2
y (in meters)
float z = 3
z (in meters)
message
Base.proto:1660A Cartesian tool pose (position and orientation). Orientation is defined as a sequence of three Euler angles using x-y-z Tait-Bryan extrinsic convention. That is, rotation around fixed X-axis, then rotation around fixed Y-axis, then rotation around fixed Z-axis.
Used as response type in: Base.ComputeForwardKinematics, Base.GetMeasuredCartesianPose
Used as field type in: , ,
float x = 1
X position (in meters)
float y = 2
Y position (in meters)
float z = 3
Z position (in meters)
float theta_x = 4
Theta X orientation (in degrees)
float theta_y = 5
Theta Y orienation (in degrees)
float theta_z = 6
Theta Z orientation (in degrees)
message
Base.proto:1669A Cartesian tool position
Used in:
float x = 1
X position (in meters)
float y = 2
Y position (in meters)
float z = 3
Z position (in meters)
message
Base.proto:2111Pre-computed joint trajectory subject to specified continuity constraints. The starting point of the trajectory must have an elapsed time of 0 ms and the angular values must reflect the current state of the robot. The robot control libraries will validate the trajectory fulfills the specified continuity constraints before playing the trajectory.
Used as request type in: Base.PlayPreComputedJointTrajectory
Used as field type in:
TrajectoryContinuityMode mode = 1
Trajectory continuity mode
repeated trajectory_elements = 2
List of pre-computed elements composing the trajectory.
message
Base.proto:2117Set of angle, speed, acceleration, and elapsed time values for each joint for a given 1 ms interval. A PreComputedJointTrajectory is made up of a series of these elements.
Used in:
repeated float joint_angles = 1
Angles values for all joints (in degrees)
repeated float joint_speeds = 2
Speed values for all joints (in degrees per second)
repeated float joint_accelerations = 3
Acceleration values for all joints (in degrees per second^2)
float time_from_start = 4
Absolute elaspsed time since initial point (in seconds)
message
Base.proto:975Protection zone configuration
Used as request type in: Base.CreateProtectionZone, Base.UpdateProtectionZone
Used as response type in: Base.ReadProtectionZone
Used as field type in:
optional handle = 1
Protection zone handle
string name = 2
Protection zone friendly name
string application_data = 3
Application data (reserved for use by Web App)
bool is_enabled = 4
True if protection zone is enabled, false otherwise
optional shape = 5
Protection zone shape
repeated limitations = 6
List of Cartesian limitation
repeated envelope_limitations = 7
List of Cartesian limitation of the envelop
Admissible protection zone events
Used in: ,
UNSPECIFIED_PROTECTION_ZONE_EVENT = 0
Unspecified protection zone event
REACHED = 1
Protection zone limit is reached
ENTERED = 2
Protection zone limit is entered
EXITED = 3
Protection zone limit is exited
message
Base.proto:924Reference to a specific protection zone
Used as request type in: Base.DeleteProtectionZone, Base.ReadProtectionZone
Used as response type in: Base.CreateProtectionZone
Used as field type in: , ,
uint32 identifier = 1
Protection zone identifier
fixed32 permission = 2
Permission of specified Proctection zone entity. Must use 'Kinova.Api.Common.Permission' enum.
message
Base.proto:1208Information about a protection zone event
ProtectionZoneEvent event = 1
Event type
message
Base.proto:1199Notification about a single protection zone event
Used in:
ProtectionZoneEvent event = 1
Event type
optional handle = 2
Handle of the protection zone that this event refers to
optional timestamp = 3
Event timestamp
optional user_handle = 4
User that caused the protection zone event to occur
optional connection = 5
Connection that caused the protection zone event to occur
message
Base.proto:1436Array of protection zone notifications
repeated notifications = 1
Notification
message
Base.proto:1036Parameters of an event log query (not implemented yet)
optional start_timestamp = 1
Start timestamp (set to zero to specify it)
optional end_timestamp = 2
End timestamp (set to zero to not specify it)
string username = 3
Queried username (set to "" to not specify it)
message
Base.proto:880optional wifi_enable_state = 1
optional bluetooth_enable_state = 2
Admissible robot events
Used in:
UNSPECIFIED_ROBOT_EVENT = 0
Unspecified robot event
ARM_CONNECTED = 1
Robot arm is connected
ARM_DISCONNECTED = 2
Robot arm is disconnected
TOOL_CONNECTED = 5
Tool is connected to the interface module (not implemented yet)
TOOL_DISCONNECTED = 6
Tool is disconnected from the interface module (not implemented yet)
message
Base.proto:1348Notification about a single robot event
Used in:
RobotEvent event = 1
Robot event type
optional handle = 2
Identifier of the hardware device connected or disconnected
optional timestamp = 3
Event timestamp
optional user_handle = 4
User that caused the robot event to occur
optional connection = 6
Connection that caused the robot event to occur
message
Base.proto:1461Array of robot event notifications
repeated notifications = 1
Notification
message
Base.proto:944Representation of a 3x3 rotation matrix. To be a valid rotation matrix, the rows must be orthonormal (the rows must each have norm of 1 and the row vectors must be orthogonal to each other). The determinant of the matrix must also be +1.
Used in:
optional row1 = 1
First rotation matrix row
optional row2 = 2
Second rotation matrix row
optional row3 = 3
Third rotation matrix row
message
Base.proto:933Single row of a 3x3 rotation matrix. To be a valid possible row of a rotation matrix, the norm of the row must be 1 (the sum of the squares of the row elements has to equal 1).
Used in:
float column1 = 1
Value between -1.0 and 1.0
float column2 = 2
Value between -1.0 and 1.0
float column3 = 3
Value between -1.0 and 1.0
message
Base.proto:1494A safety event (not implemented yet)
Used in:
optional safety_handle = 1
Safety that caused the event to occur
Admissible Base safeties. Used with BaseCyclic.BaseFeedback.[fault_bank_a | fault_bank_b | warning_bank_a | warning_bank_b]
UNSPECIFIED_BASE_SAFETY_IDENTIFIER = 0
0x0 - Unspecified base safety
FIRMWARE_UPDATE_FAILURE = 1
0x1 - Firmware update failure
EXTERNAL_COMMUNICATION_ERROR = 2
0x2 - External communication error (not implemented yet)
MAXIMUM_AMBIENT_TEMPERATURE = 4
0x4 - Maximum ambient temperature reached
MAXIMUM_CORE_TEMPERATURE = 8
0x8 - Maximum core temperature reached
JOINT_FAULT = 16
0x10 - Joint fault
CYCLIC_DATA_JITTER = 32
0x20 - Cyclic data jitter (not implemented yet)
REACHED_MAXIMUM_EVENT_LOGS = 64
0x40 - Reached Maximum number of event log entries (not implemented yet)
NO_KINEMATICS_SUPPORT = 128
0x80 - No kinematics support (not implemented yet)
BRAKE_REMOVAL_FAILURE = 256
0x100 - Based failed to remove brakes from the axis
NETWORK_ERROR = 512
0x200 - Network error (not implemented yet)
UNABLE_TO_REACH_POSE = 1024
0x400 - Unable to reach pose
JOINT_DETECTION_ERROR = 2048
0x800 - Joint detection error
NETWORK_INITIALIZATION_ERROR = 4096
0x1000 - Network initialization error
MAXIMUM_CURRENT = 8192
0x2000 - Maximum current reached
MAXIMUM_VOLTAGE = 16384
0x4000 - Maximum voltage reached
MINIMUM_VOLTAGE = 32768
0x8000 - Minimum voltage reached
MAXIMUM_END_EFFECTOR_TRANSLATION_VELOCITY = 65536
0x10000 - Maximum tool translation velocity reached (not implemented yet)
MAXIMUM_END_EFFECTOR_ORIENTATION_VELOCITY = 131072
0x20000 - Maximum tool orientation velocity reached (not implemented yet)
MAXIMUM_END_EFFECTOR_TRANSLATION_ACCELERATION = 262144
0x40000 - Maximum tool translation acceleration reached (not implemented yet)
MAXIMUM_END_EFFECTOR_ORIENTATION_ACCELERATION = 524288
0x80000 - Maximum tool orientation acceleration reached (not implemented yet)
MAXIMUM_END_EFFECTOR_TRANSLATION_FORCE = 1048576
0x100000 - Maximum tool translation force reached (not implemented yet)
MAXIMUM_END_EFFECTOR_ORIENTATION_FORCE = 2097152
0x200000 - Maximum tool orientation force reached (not implemented yet)
MAXIMUM_END_EFFECTOR_PAYLOAD = 4194304
0x400000 - Maximum tool payload reached (not implemented yet)
EMERGENCY_STOP_ACTIVATED = 8388608
0x800000 - Emergency stop activated
EMERGENCY_LINE_ACTIVATED = 16777216
0x1000000 - Emergency line activated
INRUSH_CURRENT_LIMITER_FAULT = 33554432
0x2000000 - In rush current limiter fault
NVRAM_CORRUPTED = 67108864
0x4000000 - NVRAM corrupted (not implemented yet)
INCOMPATIBLE_FIRMWARE_VERSION = 134217728
0x8000000 - Incompatible firmware version
POWERON_SELF_TEST_FAILURE = 268435456
0x10000000 - Power on seflt test failure
DISCRETE_INPUT_STUCK_ACTIVE = 536870912
0x20000000 - Discrete Input stuck active
ARM_INTO_ILLEGAL_POSITION = 1073741824
0x40000000 - Arm is in an illegal position (sigularity)
message
Base.proto:1446Array of safety notifications
repeated notifications = 1
Notification
message
Base.proto:653Information about a sequence
Used as request type in: Base.CreateSequence, Base.UpdateSequence
Used as response type in: Base.ReadSequence
Used as field type in:
optional handle = 1
Sequence handle
string name = 2
Sequence name
string application_data = 3
Application data (reserved for use by Web App)
repeated tasks = 4
Array of tasks that this sequence contains
message
Base.proto:593Reference to a specific sequence
Used as request type in: Base.DeleteAllSequenceTasks, Base.DeleteSequence, Base.PlaySequence, Base.ReadAllSequenceTasks, Base.ReadSequence
Used as response type in: Base.CreateSequence
Used as field type in: , , , , , , ,
uint32 identifier = 1
Sequence identifier
fixed32 permission = 2
Sequence permission. See 'Kinova.Api.Common.Permission' enum.
message
Base.proto:1172Notification about a single sequence information event
Used in:
EventIdSequenceInfoNotification event_identifier = 1
Sequence event type
optional sequence_handle = 2
Handle of the sequence that this event refers to
uint32 task_index = 3
Task index
uint32 group_identifier = 4
This field is deprecated and unused. Use task_index instead.
optional timestamp = 5
Event timestamp
optional user_handle = 6
User that caused the sequence event
SubErrorCodes abort_details = 7
Details if event_identifier is equal to ABORT
optional connection = 8
Connection that caused the sequence event
message
Base.proto:1431Array of sequence information notifications
repeated notifications = 1
Notification
message
Base.proto:1184Information about a sequence
EventIdSequenceInfoNotification event_identifier = 1
Sequence event type
uint32 task_index = 2
Task index
uint32 task_identifier = 3
Task identifier
message
Base.proto:616Information on a single task within a sequence
Used as response type in: Base.ReadSequenceTask
Used as field type in: , , ,
uint32 group_identifier = 1
This field is deprecated and unused. Use task_index in the SequenceTaskHandle instead.
optional action = 2
Specifies the action to execute
string application_data = 3
Application data (reserved for use by Web App)
message
Base.proto:610Reference to a specific task inside a sequence
Used as request type in: Base.DeleteSequenceTask, Base.ReadSequenceTask, Base.StartTeaching
Used as field type in: ,
optional sequence_handle = 1
Sequence handle
uint32 task_index = 2
Task index inside the sequence
message
Base.proto:646Information on a sequence and a pair of tasks to be operated on
Used as request type in: Base.MoveSequenceTask, Base.SwapSequenceTasks
optional sequence_handle = 1
Sequence handle
uint32 first_task_index = 2
Index of first task
uint32 second_task_index = 3
Index of second task
Identifies Base service current version
RESERVED_0 = 0
Reserved
CURRENT_VERSION = 1
Current version
Admissible servoing modes
Used in: ,
UNSPECIFIED_SERVOING_MODE = 0
Unspecified servoing mode
SINGLE_LEVEL_SERVOING = 2
Single-level servoing
LOW_LEVEL_SERVOING = 3
Low-level servoing
BYPASS_SERVOING = 4
Bypass mode
message
Base.proto:1133Information about the servoing mode
Used as request type in: Base.SetServoingMode
Used as response type in: Base.GetServoingMode
ServoingMode servoing_mode = 1
Servoing mode
message
Base.proto:1153Notification about a single servoing mode event
Used in:
ServoingMode servoing_mode = 1
New servoing mode
optional timestamp = 2
Event timestamp
optional user_handle = 3
User that caused the servoing mode event
optional connection = 4
Connection that caused the servoing mode event
message
Base.proto:1426Array of servoing mode notifications
repeated notifications = 1
Notification
Admissible protection zone shape types
Used in:
UNSPECIFIED_SHAPE = 0
Unspecified shape type
CYLINDER = 1
Cylinder shape type
SPHERE = 2
Sphere shape type
RECTANGULAR_PRISM = 3
Rectangular prism shape type
Admissible signal quality values
Used in:
UNSPECIFIED_SIGNAL_QUALITY = 0
Unspecified signal quality
POOR = 1
Poor signal quality
FAIR = 2
Fair signal quality
GOOD = 3
Good signal quality
EXCELLENT = 4
Excellent signal quality
NONE = 5
No signal
message
Base.proto:753Action parameter to take a snapshot of current robot position
Used as request type in: Base.TakeSnapshot
Used as field type in:
SnapshotType snapshot_type = 1
Snapshot type
Admissible types of snapshots
Used in:
UNSPECIFIED_SNAPSHOT = 0
Unspecified snapshot type
CARTESIAN_POSITION_SNAPSHOT = 1
Snapshot of the current Cartesian robot position
JOINT_POSITION_SNAPSHOT = 2
Snapshot of the current joint robot position
GRIPPER_SNAPSHOT = 3
Snapshot of the current gripper position
COMBINED_SNAPSHOT = 4
Snapshot of the current robot and gripper positions
Admissible sound types (not implemented yet)
UNSPECIFIED_SOUND_TYPE = 0
Unspecified sound types
BIP_SERIES = 1
Bip series sound type
SINGLE_BIP = 2
Single bin sound type
message
Base.proto:809Wi-Fi SSID
Used as request type in: Base.ConnectWifi, Base.DeleteWifiConfiguration, Base.GetConfiguredWifi, Base.GetWifiInformation
Used as field type in: , ,
string identifier = 1
Wi-Fi Service Set Identifier
message
Base.proto:795Action to stop robot movement
Used in:
(message has no fields)
message
Base.proto:758Action parameter to switch the active controller map
Used in:
uint32 controller_identifier = 1
Identifier of the controller for which changing the active map is requested
optional map_group_handle = 2
Reference to the map group for which the active map needs to change
optional map_handle = 3
Reference to new active map
message
Base.proto:1954Identifies the system time (not implemented yet)
uint32 sec = 1
Seconds after the minute(0-59)
uint32 min = 2
Minutes after the hour (0-59)
uint32 hour = 3
Hours since midnight (0-23)
uint32 mday = 4
Day of the month (1-31)
uint32 mon = 5
Months since January (0-11)
uint32 year = 6
Years since 1900
message
Base.proto:804Timeout for a specified duration
uint32 value = 1
Timeout value (not implemented yet)
Admissible trajectory continuity mode
Used in:
TRAJECTORY_CONTINUITY_MODE_UNSPECIFIED = 0
Unspecified continuity
TRAJECTORY_CONTINUITY_MODE_POSITION = 1
Position continuity only
TRAJECTORY_CONTINUITY_MODE_SPEED = 2
Position and speed continuity
TRAJECTORY_CONTINUITY_MODE_ACCELERATION = 3
Position, speed and acceleration continuity
message
Base.proto:2200Details for a single trajectory validation error
Used in:
TrajectoryErrorType error_type = 1
Error type
TrajectoryErrorIdentifier error_identifier = 2
This field is deprecated and will be removed in a future release.
float error_value = 3
Erroneous value
float min_value = 4
Minimum permitted value
float max_value = 5
Maximum permitted value
uint32 index = 6
Actuator index
string message = 7
Clarification message for the error
uint32 waypoint_index = 8
Waypoint index (if it applies)
This enum is deprecated and will be removed in a future release
Used in:
TRAJECTORY_ERROR_IDENTIFIER_UNSPECIFIED = 0
Unspecified error identifier. This enum is deprecated.
TRAJECTORY_ERROR_IDENTIFIER_UNAPPLICABLE = 1
No identifier required for this error. This enum is deprecated.
TRAJECTORY_ERROR_IDENTIFIER_TIME = 2
Time validation failed. This enum is deprecated.
TRAJECTORY_ERROR_IDENTIFIER_POSITION = 3
Position validation failed. This enum is deprecated.
TRAJECTORY_ERROR_IDENTIFIER_VELOCITY = 4
Velocity validation failed. This enum is deprecated.
TRAJECTORY_ERROR_IDENTIFIER_ACCELERATION = 5
Acceleration validation failed. This enum is deprecated.
message
Base.proto:2213Report collecting information on different validation errors for a particular trajectory
Used as response type in: Base.GetTrajectoryErrorReport
Used as field type in:
repeated trajectory_error_elements = 1
Trajectory validation error types
Used in:
TRAJECTORY_ERROR_TYPE_UNSPECIFIED = 0
Unspecified error type
TRAJECTORY_ERROR_TYPE_OUTSIDE_WORKSPACE = 1
The desired pose is outside robot workspace
TRAJECTORY_ERROR_TYPE_ACTUATOR_COUNT_MISMATCH = 2
The provided number of joint values does not match robot's number of actuators
TRAJECTORY_ERROR_TYPE_INVALID_DURATION = 3
The duration exceeds a limit or is invalid
TRAJECTORY_ERROR_TYPE_JOINT_NO_MOTION = 4
The robot's actuators are already at the targeted configuration
TRAJECTORY_ERROR_TYPE_ZERO_DISTANCE = 4
This enum value is deprecated and will be removed in a future release.
TRAJECTORY_ERROR_TYPE_INVALID_JOINT_SPEED = 5
The joint speed exceeds a limit, initial speed does not match current robot speed or is invalid
TRAJECTORY_ERROR_TYPE_INVALID_SPEED = 5
This enum value is deprecated and will be removed in a future release.
TRAJECTORY_ERROR_TYPE_LARGE_SPEED = 6
This enum value is deprecated and will be removed in a future release.
TRAJECTORY_ERROR_TYPE_INVALID_JOINT_ACCELERATION = 7
The joint acceleration exceeds a limit or is invalid
TRAJECTORY_ERROR_TYPE_INVALID_ACCELERATION = 7
This enum value is deprecated and will be removed in a future release.
TRAJECTORY_ERROR_TYPE_INVALID_TIME_STEP = 8
The time step does not match robot time step or is invalid
TRAJECTORY_ERROR_TYPE_INVALID_TRAJECTORY_SIZE = 9
The trajectory size is outside the limits or is invalid
TRAJECTORY_ERROR_TYPE_LARGE_SIZE = 9
This enum value is deprecated and will be removed in a future release.
TRAJECTORY_ERROR_TYPE_WRONG_MODE = 10
This enum value is deprecated and will be removed in a future release.
TRAJECTORY_ERROR_TYPE_INVALID_JOINT_POSITION = 11
The joint position exceeds a limit, initial joint position does not match current robot joint position or is invalid
TRAJECTORY_ERROR_TYPE_JOINT_POSITION_LIMIT = 11
This enum value is deprecated and will be removed in a future release.
TRAJECTORY_ERROR_TYPE_FILE_ERROR = 12
This enum value is deprecated and will be removed in a future release.
TRAJECTORY_ERROR_TYPE_NO_FILE_IN_MEMORY = 13
This enum value is deprecated and will be removed in a future release.
TRAJECTORY_ERROR_TYPE_INDEX_OUT_OF_TRAJ = 14
This enum value is deprecated and will be removed in a future release.
TRAJECTORY_ERROR_TYPE_TRAJECTORY_ALREADY_RUNNING = 15
The new trajectory cannot start because another trajectory is being played
TRAJECTORY_ERROR_TYPE_ALREADY_RUNNING = 15
This enum value is deprecated and will be removed in a future release.
TRAJECTORY_ERROR_TYPE_WRONG_STARTING_POINT = 16
This enum value is deprecated and will be removed in a future release.
TRAJECTORY_ERROR_TYPE_CARTESIAN_CANNOT_START = 17
This enum value is deprecated and will be removed in a future release.
TRAJECTORY_ERROR_TYPE_WRONG_STARTING_SPEED = 18
This enum value is deprecated and will be removed in a future release.
TRAJECTORY_ERROR_TYPE_INVALID_POSITION = 19
This enum value is deprecated and will be removed in a future release.
TRAJECTORY_ERROR_TYPE_INVALID_CARTESIAN_POSITION = 20
The cartesian position exceeds a limit, initial pose does not match current robot pose or is invalid
TRAJECTORY_ERROR_TYPE_INVALID_CARTESIAN_ORIENTATION = 21
The cartesian orientation exceeds a limit, initial orientation does not match current robot orientation or is invalid
TRAJECTORY_ERROR_TYPE_INVALID_CARTESIAN_LINEAR_VELOCITY = 22
The cartesian linear velocity exceeds a limit or is invalid
TRAJECTORY_ERROR_TYPE_INVALID_CARTESIAN_ANGULAR_VELOCITY = 23
The cartesian angular velocity exceeds a limit or is invalid
TRAJECTORY_ERROR_TYPE_INVALID_JOINT_TORQUE = 24
The joint torque exceeds a limit or is invalid
TRAJECTORY_ERROR_TYPE_MULTIPLE_WAYPOINT_TYPE_LIST = 25
The waypoints in a trajectory must be all of the same type (cartesian or angular)
TRAJECTORY_ERROR_TYPE_INITIAL_WAYPOINT_NO_STOP = 26
The first waypoint must not have blending (currently unused)
TRAJECTORY_ERROR_TYPE_FINAL_WAYPOINT_NO_STOP = 27
The last waypoint must not have blending
TRAJECTORY_ERROR_TYPE_INVALID_BLENDING_RADIUS = 28
The blending radius must be positive and not overlap other blendings or waypoint or is invalid
TRAJECTORY_ERROR_TYPE_INVALID_REFERENCE_FRAME = 29
The reference frame is invalid or not supported
TRAJECTORY_ERROR_TYPE_NUMERICAL_ERROR_IMPOSSIBLE_TRAJECTORY = 30
The conditions (points, velocities) of the trajectory lead to numerical errors that make the computation impossible
message
Base.proto:1326Additional trajectory information
Used in:
TrajectoryInfoType trajectory_info_type = 1
Trajectory information type
uint32 waypoint_index = 2
Waypoint index (if applicable)
uint32 joint_index = 3
Joint index (if applicable)
Additional trajectory info type
Used in:
UNSPECIFIED_TRAJECTORY_INFORMATION = 0
No information provided
JOINT_ACCELERATION_LIMIT_REACHED = 1
Joint acceleration limit reached
JOINT_SPEED_LIMIT_REACHED = 2
Joint speed limit reached
JOINT_POSITION_LIMIT_REACHED = 3
Joint position limit reached
JOINT_TORQUE_LIMIT_REACHED = 4
Joint torque limit reached
SINGULARITY_REGION = 5
The arm is inside a singularity region
INVERSE_KINEMATIC_FAILED = 6
The inverse kinematic calculation has failed
CARTESIAN_ACCELERATION_LIMIT_REACHED = 7
Cartesian acceleration limit reached
CARTESIAN_SPEED_LIMIT_REACHED = 8
Cartesian speed limit reached
CARTESIAN_POSITION_LIMIT_REACHED = 9
Cartesian position limit reached
CARTESIAN_WRENCH_LIMIT_REACHED = 10
Cartesian torque limit reached
ENTERING_PROTECTION_ZONE = 11
The arm is entering a protection zone
WAYPOINT_REACHED = 12
Waypoint reached
TRAJECTORY_OK = 13
There is more trajectory notification
message
Base.proto:1640A 4x4 homogeneous transformation matrix representing the transformation between two reference frames.
optional r0 = 1
First transformation row
optional r1 = 2
Second transformation row
optional r2 = 3
Third transformation row
optional r3 = 4
Fourth transformation row
message
Base.proto:1648A single row of a 4x4 homogeneous transformation matrix
Used in:
float c0 = 1
First column value
float c1 = 2
Second column value
float c2 = 3
Third column value
float c3 = 4
Fourth column value
message
Base.proto:1730A twist (linear and angular velocity).
Used in:
float linear_x = 1
Linear X velocity (m/s or ratio between -1.0 and 1.0 if used with joystick command)
float linear_y = 2
Linear Y velocity (m/s or ratio between -1.0 and 1.0 if used with joystick command)
float linear_z = 3
Linear Z velocity (m/s or ratio between -1.0 and 1.0 if used with joystick command)
float angular_x = 4
Angular X velocity (deg/s or ratio between -1.0 and 1.0 if used with joystick command)
float angular_y = 5
Angular Y velocity (deg/s or ratio between -1.0 and 1.0 if used with joystick command)
float angular_z = 6
Angular Z velocity (deg/s or ratio between -1.0 and 1.0 if used with joystick command)
message
Base.proto:1780A twist command to be applied to the tool
Used as request type in: Base.SendTwistCommand, Base.SendTwistJoystickCommand
Used as field type in:
Common.CartesianReferenceFrame reference_frame = 1
The reference frame used for the twist command
optional twist = 2
Twist value
uint32 duration = 3
Duration constrant. If not 0, allows to set a limit (in milliseconds) to the TwistCommand (not implemented yet)
message
Base.proto:1007Linear and angular speed limitations for twist configuration
Used as response type in: Base.GetTwistHardLimitation, Base.GetTwistSoftLimitation
float linear = 1
Linear limitation
float angular = 2
Angular limitation
Admissible user event types
Used in:
UNSPECIFIED_USER_EVENT = 0
Unspecified user event
LOGGED_OUT = 1
User logged out
LOGGED_IN = 2
User logged in
message
Base.proto:1220Notification about a single user event
Used in:
UserEvent user_event = 1
User event type
optional modified_user = 2
User profile that was modified
optional timestamp = 3
Event timestamp
optional user_handle = 4
User that caused the user profile event (i.e. user who changed the user profile)
optional connection = 5
Connection that caused the user profile event (i.e. user who changed the user profile)
message
Base.proto:1441Array of user notifications
repeated notifications = 1
Notification
message
Base.proto:567Information about a user
Used as request type in: Base.UpdateUserProfile
Used as response type in: Base.ReadUserProfile
Used as field type in: ,
optional handle = 1
User handle (no need to set it with CreateUserProfile())
string username = 2
Username, which is used to connect to robot (or login via Web App)
string firstname = 3
User's first name
string lastname = 4
User's last name
string application_data = 5
Application data (reserved for use by Web App)
message
Base.proto:2226A waypoint describing part of a trajectory.
Used in:
string name = 1
Waypoint friendly name
oneof type_of_waypoint
Oneof to define the waypoint type
angular_waypoint = 2
cartesian_waypoint = 3
message
Base.proto:2251A waypoint list
Used as request type in: Base.ExecuteWaypointTrajectory, Base.ValidateWaypointList
Used as field type in: ,
repeated waypoints = 1
Array of waypoints
float duration = 2
Duration of the waypoint list (in seconds). If unspecified or equal to 0, optimal duration is assumed.
bool use_optimal_blending = 3
At validation if this value is true, the waypoint list with optimal blending will be returned.
message
Base.proto:912Wi-Fi connection configuration
Used as request type in: Base.AddWifiConfiguration
Used as response type in: Base.GetConfiguredWifi
Used as field type in:
optional ssid = 1
SSID
string security_key = 2
Security key to used when connecting to Wi-Fi network
bool connect_automatically = 3
Connection mode. Set to true so robot automatically connects to this Wi-Fi network at bootup, false otherwise
message
Base.proto:872Used as request type in: Base.SetWifiEnableState
Used as response type in: Base.GetWifiEnableState
Used as field type in:
bool enabled = 1
Admissible Wi-Fi encryption types
UNSPECIFIED_ENCRYPTION = 0
Unspecified Wi-Fi encryption type
AES_ENCRYPTION = 1
AES encryption
TKIP_ENCRYPTION = 2
TKIP encryption
WEP_ENCRYPTION = 4
WEP encryption
message
Base.proto:896Information about a specific Wi-Fi network
Used as response type in: Base.GetConnectedWifiInformation, Base.GetWifiInformation
Used as field type in:
optional ssid = 1
SSID
fixed32 security_type = 2
Wi-Fi security type
fixed32 encryption_type = 3
Wi-Fi encryption type
SignalQuality signal_quality = 4
Wi-Fi signal quality
int32 signal_strength = 5
Wi-Fi signal power in dBm
uint32 frequency = 6
Wi-Fi operating frequency (channel) in MHz
uint32 channel = 7
Wi-Fi operating channel
Admissible Wi-Fi Security types
UNSPECIFIED_AUTHENTICATION = 0
Unspecified Wi-Fi security type
WEP = 1
WEP authentication required
WPA2_PERSONAL = 2
WPA2 Personal authentication required
WPA_PERSONAL = 4
WPA Personal authentication required
NO_AUTHENTICATION = 8
No authentication required
message
Base.proto:1720A wrench (force and torque)
Used in:
float force_x = 1
Linear X force (Newtons or ratio between -1.0 and 1.0 if used with Joystick command)
float force_y = 2
Linear Y force (Newtons or ratio between -1.0 and 1.0 if used with Joystick command)
float force_z = 3
Linear Z force (Newtons or ratio between -1.0 and 1.0 if used with Joystick command)
float torque_x = 4
Angular X torque (Newton-meters or ratio between -1.0 and 1.0 if used with Joystick command)
float torque_y = 5
Angular Y torque (Newton-meters or ratio between -1.0 and 1.0 if used with Joystick command)
float torque_z = 6
Angular Z torque (Newton-meters or ratio between -1.0 and 1.0 if used with Joystick command)
message
Base.proto:1772A wrench command to be applied to the tool
Used as request type in: Base.SendWrenchCommand, Base.SendWrenchJoystickCommand
Used as field type in:
Common.CartesianReferenceFrame reference_frame = 1
The reference frame used for the wrench command
WrenchMode mode = 2
Mode in which the command is executed
optional wrench = 3
Wrench value
uint32 duration = 4
Duration constraint. If not 0, allows to set a limit (in milliseconds) to the WrenchCommand
message
Base.proto:1013Force and torque limitations for wrench configuration
Used as response type in: Base.GetWrenchHardLimitation, Base.GetWrenchSoftLimitation
float force = 1
Force limitation
float torque = 2
Torque limitation
Admissible wrench (force) modes
Used in:
UNSPECIFIED_WRENCH_MODE = 0
Unspecified wrench mode
WRENCH_RESTRICTED = 1
Wrench restricted mode (tool motion is authorized only in the direction of the wrench command)
WRENCH_NORMAL = 2
Wrench normal mode (tool motion is authorized in any direction)
Admissible Wrist digital inputs
UNSPECIFIED_WRIST_DIGITAL = 0
Unspecified digital input
WRIST_BUTTON_1 = 1
Button 1 input
WRIST_BUTTON_2 = 2
Button 2 input
WRIST_BUTTON_BOTH = 3
Button 1 + Button 2 combo
Admissible XBOX360 analog inputs
UNSPECIFIED_XBOX360_ANALOG = 0
Unspecified analog input
XBOX360_THUMB_LEFT_X = 1
Thumb left X input
XBOX360_THUMB_LEFT_Y = 2
Thumb left Y input
XBOX360_THUMB_RIGHT_X = 3
Thumb right X input
XBOX360_THUMB_RIGHT_Y = 4
Thumb right Y input
XBOX360_TRIGGER_LEFT = 5
Trigger left input
XBOX360_TRIGGER_RIGHT = 6
Trigger right input
Admissible XBOX360 digital inputs
UNSPECIFIED_XBOX360_DIGITAL = 0
Unspecified digital input
XBOX360_PAD_UP = 1
Pad up input
XBOX360_PAD_DOWN = 2
Pad down input
XBOX360_PAD_LEFT = 3
Pad left input
XBOX360_PAD_RIGHT = 4
Pad right input
XBOX360_FILE_BUTTON_START = 5
File button start input
XBOX360_DOCUMENT_BUTTON_BACK = 6
Document button back input
XBOX360_LEFT_THUMB_BUTTON = 7
Left thumb button input
XBOX360_RIGHT_THUMB_BUTTON = 8
Right thumb button input
XBOX360_LEFT_SHOULDER = 9
Left shoulder input
XBOX360_RIGHT_SHOULDER = 10
Right shoulder input
XBOX360_BUTTON_A = 13
Button A input
XBOX360_BUTTON_B = 14
Button B input
XBOX360_BUTTON_X = 15
Button X input
XBOX360_BUTTON_Y = 16
Button Y input
message
Base.proto:966Protection zone shape description
Used in:
ShapeType shape_type = 1
Shape type
optional origin = 2
Origin of the protection zone shape from reference (in meters)
optional orientation = 3
Rotation matrix to provide shape orientation
repeated float dimensions = 4
Shape size measurement (in meters). If rectangular prism: x, y and z dimensions. If cylinder: radius and height. If sphere: radius
float envelope_thickness = 5
Thickness of envelop around shape (in meters). The envelop is of same shape type as the shape at its center.