package Kinova.Api.ControlConfig
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Service to configure robot control library
@PROXY_ID=16 @ERROR=Kinova.Api.Error
Sets global gravity vector in terms of base reference frame. This needs to be configured to enable control of the robot in wall or ceiling mounting of the robot.
@RPC_ID=1
Retrieves global gravity vector
@RPC_ID=2
Sets payload information. This needs to be configured so that the control library can take into account the presence of the payload mass in computing the dynamics of the robot.
@RPC_ID=3
Retrieves payload information
@RPC_ID=4
Sets tool configuration. This needs to be configured for two reasons. 1) so that the control library can take into account the presence of the tool mass in computing the dynamics of the robot. 2) so that the robot is aware of the tool frame center relative position and orientation to correctly compute and report the tool position.
@RPC_ID=5
Retrieves tool configuration
@RPC_ID=6
Subscribes to control configuration notifications
@RPC_ID=7 @PUB_SUB=ControlConfigurationNotification
rpc Unsubscribe (, )
ControlConfig.proto:44Unsubscribes client from receiving specified type of notifications
@RPC_ID=8 @UNSUB
Defines the reference frame to use with twist and wrench commands
@RPC_ID=9
Retrieves the current reference frame used by the twist and wrench commands
@RPC_ID=10
rpc GetControlMode (, )
ControlConfig.proto:53Retrieves current control mode
@RPC_ID=13
Set the software joint speed limits.
@RPC_ID=14
Set the software twist linear limit.
@RPC_ID=15
Set the software twist angular limit.
@RPC_ID=16
Set the software joint acceleration limits.
@RPC_ID=17
Retrieves angular and twist hard limits.
@RPC_ID=18
Retrieves the software kinematic limits for a specific control mode.
@RPC_ID=19
Retrieves the software kinematic limits for all control modes.
@RPC_ID=20
message
ControlConfig.proto:232Kinematic limits
repeated kinematic_limits_list = 1
List of kinematic limits
Set the desired linear twist when using the joystick.
@RPC_ID=21
message
ControlConfig.proto:244Desired Joystick linear speed.
float linear = 1
Desired linear speed (meters / second)
Set the desired angular twist when using the joystick.
@RPC_ID=22
message
ControlConfig.proto:249Desired Joystick angular speed.
float angular = 1
Desired angular speed (degrees / second)
Set the desired joint speeds when using the joystick in angular mode.
@RPC_ID=23
message
ControlConfig.proto:254Desired Joystick joint speeds.
repeated float joint_speed = 1
Desired joint speeds (degrees / second)
Retrieves the desired joystick speeds
@RPC_ID=24
message
ControlConfig.proto:237Desired Joystick speeds.
float linear = 1
Desired linear speed (meters / second)
float angular = 2
Desired angular speed (degrees / second)
repeated float joint_speed = 3
Desired joint speeds (degrees / second)
Resets gravity vector to default values
@RPC_ID=25
Resets payload information to default values
@RPC_ID=26
Resets tool configuration to default values
@RPC_ID=27
Resets joint speed soft limits to default values
@RPC_ID=28
Resets twist linear soft limit to default value
@RPC_ID=29
Resets twist angular soft limit to default value
@RPC_ID=30
Resets joint acceleration soft limits to default values
@RPC_ID=31
Subscribes to control mode topic for notifications
@RPC_ID=32 @PUB_SUB=ControlModeNotification
message
ControlConfig.proto:194Cartesian reference frame
Used as request type in: ControlConfig.SetCartesianReferenceFrame
Used as response type in: ControlConfig.GetCartesianReferenceFrame
Common.CartesianReferenceFrame reference_frame = 1
Reference frame
message
ControlConfig.proto:143Defines a Cartesian transform
Used in:
float x = 1
x (in meters)
float y = 2
y (in meters)
float z = 3
z (in meters)
float theta_x = 4
Theta x (in degrees)
float theta_y = 5
Theta y (in degrees)
float theta_z = 6
Theta z (in degrees)
Admissible control configuration events
Used in:
UNSPECIFIED_CONTROL_CONFIGURATION_EVENT = 0
Unspecified control configuration event
ANGLE_UNIT_CHANGED = 1
Angle unit changed event
GRAVITY_VECTOR_CHANGED = 2
Gravity vector changed event
JOINT_ADMITTANCE_CONFIGURATION_CHANGED = 4
Joint admittance configuration changed event
NULL_ADMITTANCE_CONFIGURATION_CHANGED = 5
Null admittance configuration changed event
CARTESIAN_ADMITTANCE_CONFIGURATION_CHANGED = 6
Cartesian admittance configuration changed event
JOINT_TORQUE_HYBRID_CONFIGURATION_CHANGED = 7
Joint torque hybrid configuraiton changed event
WRENCH_COMMAND_NORMAL_CONFIGURATION_CHANGED = 8
Wrench commmand normal configuration changed event
WRENCH_COMMAND_RESTRICTED_CONFIGURATION_CHANGED = 9
Wrench command restricted configuration changed event
CONTROL_CONFIGURATION_FACTORY_RESTORED = 10
Control configuration factory restored event
TOOL_CONFIGURATION_CHANGED = 11
Tool configuration event
PAYLOAD_CONFIGURATION_CHANGED = 12
Payload configuration event
CARTESIAN_REFERENCE_CHANGED = 13
Cartesian reference event
CHANGE_CONTROL_MODE_FAILED = 14
Control mode change fail event
JOINT_SPEED_SOFT_LIMITS_CHANGED = 16
Joint speed software limits changed event
TWIST_LINEAR_SOFT_LIMIT_CHANGED = 17
Linear speed software limit changed event
TWIST_ANGULAR_SOFT_LIMIT_CHANGED = 18
Angular speed software limit changed event
JOINT_ACCELERATION_SOFT_LIMITS_CHANGED = 19
Joint acceleration software limits changed event
DESIRED_TWIST_LINEAR_SPEED_CHANGED = 20
Desired joystick twist linear speed changed event
DESIRED_TWIST_ANGULAR_SPEED_CHANGED = 21
Desired joystick twist angular speed changed event
DESIRED_JOINT_SPEED_CHANGED = 22
Desired joystick joint speed changed event
message
ControlConfig.proto:186Notification about a single control configuration event
ControlConfigurationEvent event = 1
optional timestamp = 2
Event timestamp
optional user_handle = 3
User that caused the factory event to occur
optional connection = 4
Connection that caused the configuration event
Admissible robot control modes
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
CARTESIAN_WAYPOINT_TRAJECTORY = 12
Cartesian waypoint trajectory mode
IDLE = 13
Idle
message
ControlConfig.proto:275Control mode information
Used as request type in: ControlConfig.GetKinematicSoftLimits, ControlConfig.ResetJointAccelerationSoftLimits, ControlConfig.ResetJointSpeedSoftLimits, ControlConfig.ResetTwistAngularSoftLimit, ControlConfig.ResetTwistLinearSoftLimit
Used as response type in: ControlConfig.GetControlMode
ControlMode control_mode = 1
Control mode
message
ControlConfig.proto:280Notification about a single control mode event
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
ControlConfig.proto:121Defines the gravity vector in terms of the robot base frame. If not explicitly configured, it defaults to (0, 0, -9.81), assuming a mounting on a horizontal surface. If the robot is mounted on a wall or ceiling, the gravity vector relative to the base frame will change. The control library needs to be aware of this to accurately compensate for gravity.
Used as request type in: ControlConfig.SetGravityVector
Used as response type in: ControlConfig.GetGravityVector, ControlConfig.ResetGravityVector
float x = 1
x (meters / second^squared)
float y = 2
y (meters / second^squared)
float z = 3
z (meters / second^squared)
message
ControlConfig.proto:217Software Joint acceleration limits
Used as request type in: ControlConfig.SetJointAccelerationSoftLimits
Used as response type in: ControlConfig.ResetJointAccelerationSoftLimits
ControlMode control_mode = 1
Control mode
repeated float joint_acceleration_soft_limits = 2
Software acceleration limits
message
ControlConfig.proto:211Software joint speed limits
Used as request type in: ControlConfig.SetJointSpeedSoftLimits
Used as response type in: ControlConfig.ResetJointSpeedSoftLimits
ControlMode control_mode = 1
Control mode
repeated float joint_speed_soft_limits = 2
Software joint speed limits
message
ControlConfig.proto:223Kinematic limits
Used as response type in: ControlConfig.GetKinematicHardLimits, ControlConfig.GetKinematicSoftLimits
Used as field type in:
ControlMode control_mode = 1
Control mode
float twist_linear = 2
Linear twist limits
float twist_angular = 3
Angular twist limits
repeated float joint_speed_limits = 4
Joint speed limits
repeated float joint_acceleration_limits = 5
Joint Acceleration limits
message
ControlConfig.proto:136Defines payload information
Used as request type in: ControlConfig.SetPayloadInformation
Used as response type in: ControlConfig.GetPayloadInformation, ControlConfig.ResetPayloadInformation
float payload_mass = 1
Tool mass in kg
optional payload_mass_center = 2
Tool mass center position relative to the tool reference frame
message
ControlConfig.proto:129A Cartesian position
Used in: ,
float x = 1
x position (in meters)
float y = 2
y position (in meters)
float z = 3
z position (in meters)
Identifies ControlConfig current version
RESERVED_0 = 0
Reserved
CURRENT_VERSION = 1
Current version
message
ControlConfig.proto:154Defines a tool configuration
Used as request type in: ControlConfig.SetToolConfiguration
Used as response type in: ControlConfig.GetToolConfiguration, ControlConfig.ResetToolConfiguration
optional tool_transform = 1
Cartesian transform tool
float tool_mass = 2
Tool mass (in kg)
optional tool_mass_center = 3
Tool mass center position relative to the interface module reference frame
message
ControlConfig.proto:205Software twist angular speed limit
Used as request type in: ControlConfig.SetTwistAngularSoftLimit
Used as response type in: ControlConfig.ResetTwistAngularSoftLimit
ControlMode control_mode = 1
Control mode
float twist_angular_soft_limit = 2
Software angular twist limit
message
ControlConfig.proto:199Software twist linear speed limit
Used as request type in: ControlConfig.SetTwistLinearSoftLimit
Used as response type in: ControlConfig.ResetTwistLinearSoftLimit
ControlMode control_mode = 1
Control mode
float twist_linear_soft_limit = 2
Software linear twist limit