├── .github └── ISSUE_TEMPLATE │ ├── bug_report.md │ └── feature-enhancement-request.md ├── .gitignore ├── LICENSE ├── api_cpp ├── doc │ └── markdown │ │ ├── enums │ │ ├── ActuatorConfig │ │ │ ├── CoggingFeedforwardMode.md │ │ │ ├── CommandMode.md │ │ │ ├── ControlLoopSelection.md │ │ │ ├── ControlMode.md │ │ │ ├── CustomDataIndex.md │ │ │ ├── SafetyIdentifierBankA.md │ │ │ ├── SafetyLimitType.md │ │ │ └── ServiceVersion.md │ │ ├── ActuatorCyclic │ │ │ ├── CommandFlags.md │ │ │ ├── ServiceVersion.md │ │ │ └── StatusFlags.md │ │ ├── Api │ │ │ ├── ErrorCodes.md │ │ │ └── SubErrorCodes.md │ │ ├── Base │ │ │ ├── ActionEvent.md │ │ │ ├── ActionType.md │ │ │ ├── AdmittanceMode.md │ │ │ ├── BackupEvent.md │ │ │ ├── BridgeStatus.md │ │ │ ├── BridgeType.md │ │ │ ├── CapSenseMode.md │ │ │ ├── ConfigurationNotificationEvent.md │ │ │ ├── ControlMode.md │ │ │ ├── ControllerBehavior.md │ │ │ ├── ControllerElementEventType.md │ │ │ ├── ControllerEventType.md │ │ │ ├── ControllerInputType.md │ │ │ ├── ControllerType.md │ │ │ ├── EventIdSequenceInfoNotification.md │ │ │ ├── FactoryEvent.md │ │ │ ├── Gen3GpioPinId.md │ │ │ ├── GpioAction.md │ │ │ ├── GpioBehavior.md │ │ │ ├── GpioPinPropertyFlags.md │ │ │ ├── GripperMode.md │ │ │ ├── JointNavigationDirection.md │ │ │ ├── JointTrajectoryConstraintType.md │ │ │ ├── LedState.md │ │ │ ├── LimitationType.md │ │ │ ├── NavigationDirection.md │ │ │ ├── NetworkEvent.md │ │ │ ├── NetworkType.md │ │ │ ├── OperatingMode.md │ │ │ ├── ProtectionZoneEvent.md │ │ │ ├── RobotEvent.md │ │ │ ├── SafetyIdentifier.md │ │ │ ├── ServiceVersion.md │ │ │ ├── ServoingMode.md │ │ │ ├── ShapeType.md │ │ │ ├── SignalQuality.md │ │ │ ├── SnapshotType.md │ │ │ ├── SoundType.md │ │ │ ├── TrajectoryContinuityMode.md │ │ │ ├── TrajectoryErrorIdentifier.md │ │ │ ├── TrajectoryErrorType.md │ │ │ ├── TrajectoryInfoType.md │ │ │ ├── UserEvent.md │ │ │ ├── WifiEncryptionType.md │ │ │ ├── WifiSecurityType.md │ │ │ ├── WrenchMode.md │ │ │ ├── WristDigitalInputIdentifier.md │ │ │ ├── Xbox360AnalogInputIdentifier.md │ │ │ └── Xbox360DigitalInputIdentifier.md │ │ ├── BaseCyclic │ │ │ └── ServiceVersion.md │ │ ├── Common │ │ │ ├── ArmState.md │ │ │ ├── CartesianReferenceFrame.md │ │ │ ├── CountryCodeIdentifier.md │ │ │ ├── DeviceTypes.md │ │ │ ├── NotificationType.md │ │ │ ├── Permission.md │ │ │ ├── SafetyStatusValue.md │ │ │ ├── UARTParity.md │ │ │ ├── UARTSpeed.md │ │ │ ├── UARTStopBits.md │ │ │ ├── UARTWordLength.md │ │ │ └── Unit.md │ │ ├── ControlConfig │ │ │ ├── ControlConfigurationEvent.md │ │ │ ├── ControlMode.md │ │ │ └── ServiceVersion.md │ │ ├── DeviceConfig │ │ │ ├── CalibrationItem.md │ │ │ ├── CalibrationStatus.md │ │ │ ├── CapSenseMode.md │ │ │ ├── RunModes.md │ │ │ ├── SafetyLimitType.md │ │ │ └── ServiceVersion.md │ │ ├── DeviceManager │ │ │ └── ServiceVersion.md │ │ ├── GripperConfig │ │ │ ├── RobotiqGripperStatusFlags.md │ │ │ └── SafetyIdentifier.md │ │ ├── GripperCyclic │ │ │ └── ServiceVersion.md │ │ ├── InterconnectConfig │ │ │ ├── EthernetDevice.md │ │ │ ├── EthernetDuplex.md │ │ │ ├── EthernetSpeed.md │ │ │ ├── GPIOIdentifier.md │ │ │ ├── GPIOMode.md │ │ │ ├── GPIOPull.md │ │ │ ├── GPIOValue.md │ │ │ ├── I2CDevice.md │ │ │ ├── I2CDeviceAddressing.md │ │ │ ├── I2CMode.md │ │ │ ├── I2CRegisterAddressSize.md │ │ │ ├── SafetyIdentifier.md │ │ │ ├── ServiceVersion.md │ │ │ └── UARTPortId.md │ │ ├── InterconnectCyclic │ │ │ └── ServiceVersion.md │ │ ├── ProductConfiguration │ │ │ ├── ArmLaterality.md │ │ │ ├── BaseType.md │ │ │ ├── BrakeType.md │ │ │ ├── EndEffectorType.md │ │ │ ├── InterfaceModuleType.md │ │ │ ├── ModelId.md │ │ │ ├── VisionModuleType.md │ │ │ └── WristType.md │ │ ├── Session │ │ │ └── ServiceVersion.md │ │ └── VisionConfig │ │ │ ├── BitRate.md │ │ │ ├── FocusAction.md │ │ │ ├── FrameRate.md │ │ │ ├── Option.md │ │ │ ├── Resolution.md │ │ │ ├── Sensor.md │ │ │ ├── ServiceVersion.md │ │ │ └── VisionEvent.md │ │ ├── index.md │ │ ├── messages │ │ ├── ActuatorConfig │ │ │ ├── AxisOffsets.md │ │ │ ├── AxisPosition.md │ │ │ ├── CoggingFeedforwardModeInformation.md │ │ │ ├── CommandModeInformation.md │ │ │ ├── ControlLoop.md │ │ │ ├── ControlLoopParameters.md │ │ │ ├── ControlModeInformation.md │ │ │ ├── CustomDataSelection.md │ │ │ ├── EncoderDerivativeParameters.md │ │ │ ├── FrequencyResponse.md │ │ │ ├── LoopSelection.md │ │ │ ├── PositionCommand.md │ │ │ ├── RampResponse.md │ │ │ ├── Servoing.md │ │ │ ├── StepResponse.md │ │ │ ├── TorqueCalibration.md │ │ │ ├── TorqueOffset.md │ │ │ └── VectorDriveParameters.md │ │ ├── ActuatorCyclic │ │ │ ├── Command.md │ │ │ ├── CustomData.md │ │ │ ├── Feedback.md │ │ │ └── MessageId.md │ │ ├── Base │ │ │ ├── Action.md │ │ │ ├── ActionExecutionState.md │ │ │ ├── ActionHandle.md │ │ │ ├── ActionList.md │ │ │ ├── ActionNotification.md │ │ │ ├── ActionNotificationList.md │ │ │ ├── ActivateMapHandle.md │ │ │ ├── ActuatorInformation.md │ │ │ ├── Admittance.md │ │ │ ├── AdvancedSequenceHandle.md │ │ │ ├── AngularWaypoint.md │ │ │ ├── AppendActionInformation.md │ │ │ ├── ArmStateInformation.md │ │ │ ├── ArmStateNotification.md │ │ │ ├── BluetoothEnableState.md │ │ │ ├── BridgeConfig.md │ │ │ ├── BridgeIdentifier.md │ │ │ ├── BridgeList.md │ │ │ ├── BridgePortConfig.md │ │ │ ├── BridgeResult.md │ │ │ ├── CapSenseConfig.md │ │ │ ├── CartesianLimitation.md │ │ │ ├── CartesianLimitationList.md │ │ │ ├── CartesianSpeed.md │ │ │ ├── CartesianTrajectoryConstraint.md │ │ │ ├── CartesianWaypoint.md │ │ │ ├── ChangeJointSpeeds.md │ │ │ ├── ChangeTwist.md │ │ │ ├── ChangeWrench.md │ │ │ ├── CommunicationInterfaceConfiguration.md │ │ │ ├── ConfigurationChangeNotification.md │ │ │ ├── ConfigurationChangeNotificationList.md │ │ │ ├── ConstrainedJointAngle.md │ │ │ ├── ConstrainedJointAngles.md │ │ │ ├── ConstrainedOrientation.md │ │ │ ├── ConstrainedPose.md │ │ │ ├── ConstrainedPosition.md │ │ │ ├── ControlModeInformation.md │ │ │ ├── ControlModeNotification.md │ │ │ ├── ControlModeNotificationList.md │ │ │ ├── ControllerConfiguration.md │ │ │ ├── ControllerConfigurationList.md │ │ │ ├── ControllerConfigurationMode.md │ │ │ ├── ControllerElementHandle.md │ │ │ ├── ControllerElementState.md │ │ │ ├── ControllerEvent.md │ │ │ ├── ControllerHandle.md │ │ │ ├── ControllerList.md │ │ │ ├── ControllerNotification.md │ │ │ ├── ControllerNotificationList.md │ │ │ ├── ControllerState.md │ │ │ ├── Delay.md │ │ │ ├── EmergencyStop.md │ │ │ ├── FactoryNotification.md │ │ │ ├── Faults.md │ │ │ ├── Finger.md │ │ │ ├── FirmwareBundleVersions.md │ │ │ ├── FirmwareComponentVersion.md │ │ │ ├── FullIPv4Configuration.md │ │ │ ├── FullUserProfile.md │ │ │ ├── GpioCommand.md │ │ │ ├── GpioConfiguration.md │ │ │ ├── GpioConfigurationList.md │ │ │ ├── GpioEvent.md │ │ │ ├── GpioPinConfiguration.md │ │ │ ├── Gripper.md │ │ │ ├── GripperCommand.md │ │ │ ├── GripperRequest.md │ │ │ ├── IKData.md │ │ │ ├── IPv4Configuration.md │ │ │ ├── IPv4Information.md │ │ │ ├── JointAngle.md │ │ │ ├── JointAngles.md │ │ │ ├── JointLimitation.md │ │ │ ├── JointSpeed.md │ │ │ ├── JointSpeeds.md │ │ │ ├── JointTorque.md │ │ │ ├── JointTorques.md │ │ │ ├── JointTrajectoryConstraint.md │ │ │ ├── JointsLimitationsList.md │ │ │ ├── KinematicTrajectoryConstraints.md │ │ │ ├── Map.md │ │ │ ├── MapElement.md │ │ │ ├── MapEvent.md │ │ │ ├── MapGroup.md │ │ │ ├── MapGroupHandle.md │ │ │ ├── MapGroupList.md │ │ │ ├── MapHandle.md │ │ │ ├── MapList.md │ │ │ ├── Mapping.md │ │ │ ├── MappingHandle.md │ │ │ ├── MappingInfoNotification.md │ │ │ ├── MappingInfoNotificationList.md │ │ │ ├── MappingList.md │ │ │ ├── NetworkHandle.md │ │ │ ├── NetworkNotification.md │ │ │ ├── NetworkNotificationList.md │ │ │ ├── OperatingModeInformation.md │ │ │ ├── OperatingModeNotification.md │ │ │ ├── OperatingModeNotificationList.md │ │ │ ├── Orientation.md │ │ │ ├── PasswordChange.md │ │ │ ├── Point.md │ │ │ ├── Pose.md │ │ │ ├── Position.md │ │ │ ├── PreComputedJointTrajectory.md │ │ │ ├── PreComputedJointTrajectoryElement.md │ │ │ ├── ProtectionZone.md │ │ │ ├── ProtectionZoneHandle.md │ │ │ ├── ProtectionZoneInformation.md │ │ │ ├── ProtectionZoneList.md │ │ │ ├── ProtectionZoneNotification.md │ │ │ ├── ProtectionZoneNotificationList.md │ │ │ ├── Query.md │ │ │ ├── RFConfiguration.md │ │ │ ├── RequestedActionType.md │ │ │ ├── RobotEventNotification.md │ │ │ ├── RobotEventNotificationList.md │ │ │ ├── RotationMatrix.md │ │ │ ├── RotationMatrixRow.md │ │ │ ├── SafetyEvent.md │ │ │ ├── SafetyNotificationList.md │ │ │ ├── Sequence.md │ │ │ ├── SequenceHandle.md │ │ │ ├── SequenceInfoNotification.md │ │ │ ├── SequenceInfoNotificationList.md │ │ │ ├── SequenceInformation.md │ │ │ ├── SequenceList.md │ │ │ ├── SequenceTask.md │ │ │ ├── SequenceTaskConfiguration.md │ │ │ ├── SequenceTaskHandle.md │ │ │ ├── SequenceTasks.md │ │ │ ├── SequenceTasksConfiguration.md │ │ │ ├── SequenceTasksPair.md │ │ │ ├── SequenceTasksRange.md │ │ │ ├── ServoingModeInformation.md │ │ │ ├── ServoingModeNotification.md │ │ │ ├── ServoingModeNotificationList.md │ │ │ ├── Snapshot.md │ │ │ ├── Ssid.md │ │ │ ├── Stop.md │ │ │ ├── SwitchControlMapping.md │ │ │ ├── SystemTime.md │ │ │ ├── Timeout.md │ │ │ ├── TrajectoryErrorElement.md │ │ │ ├── TrajectoryErrorReport.md │ │ │ ├── TrajectoryInfo.md │ │ │ ├── TransformationMatrix.md │ │ │ ├── TransformationRow.md │ │ │ ├── Twist.md │ │ │ ├── TwistCommand.md │ │ │ ├── TwistLimitation.md │ │ │ ├── UserList.md │ │ │ ├── UserNotification.md │ │ │ ├── UserNotificationList.md │ │ │ ├── UserProfile.md │ │ │ ├── UserProfileList.md │ │ │ ├── Waypoint.md │ │ │ ├── WaypointList.md │ │ │ ├── WaypointValidationReport.md │ │ │ ├── WifiConfiguration.md │ │ │ ├── WifiConfigurationList.md │ │ │ ├── WifiEnableState.md │ │ │ ├── WifiInformation.md │ │ │ ├── WifiInformationList.md │ │ │ ├── Wrench.md │ │ │ ├── WrenchCommand.md │ │ │ ├── WrenchLimitation.md │ │ │ └── ZoneShape.md │ │ ├── BaseCyclic │ │ │ ├── ActuatorCommand.md │ │ │ ├── ActuatorCustomData.md │ │ │ ├── ActuatorFeedback.md │ │ │ ├── BaseFeedback.md │ │ │ ├── Command.md │ │ │ ├── CustomData.md │ │ │ └── Feedback.md │ │ ├── Common │ │ │ ├── Connection.md │ │ │ ├── CountryCode.md │ │ │ ├── DeviceHandle.md │ │ │ ├── Empty.md │ │ │ ├── NotificationHandle.md │ │ │ ├── NotificationOptions.md │ │ │ ├── SafetyHandle.md │ │ │ ├── SafetyNotification.md │ │ │ ├── Timestamp.md │ │ │ ├── UARTConfiguration.md │ │ │ ├── UARTDeviceIdentification.md │ │ │ └── UserProfileHandle.md │ │ ├── ControlConfig │ │ │ ├── AngularTwist.md │ │ │ ├── CartesianReferenceFrameInfo.md │ │ │ ├── CartesianTransform.md │ │ │ ├── ControlConfigurationNotification.md │ │ │ ├── ControlModeInformation.md │ │ │ ├── ControlModeNotification.md │ │ │ ├── DesiredSpeeds.md │ │ │ ├── GravityVector.md │ │ │ ├── JointAccelerationSoftLimits.md │ │ │ ├── JointSpeedSoftLimits.md │ │ │ ├── JointSpeeds.md │ │ │ ├── KinematicLimits.md │ │ │ ├── KinematicLimitsList.md │ │ │ ├── LinearTwist.md │ │ │ ├── PayloadInformation.md │ │ │ ├── Position.md │ │ │ ├── ToolConfiguration.md │ │ │ ├── TwistAngularSoftLimit.md │ │ │ └── TwistLinearSoftLimit.md │ │ ├── DeviceConfig │ │ │ ├── BootloaderVersion.md │ │ │ ├── Calibration.md │ │ │ ├── CalibrationElement.md │ │ │ ├── CalibrationParameter.md │ │ │ ├── CalibrationResult.md │ │ │ ├── CapSenseConfig.md │ │ │ ├── CapSenseRegister.md │ │ │ ├── DeviceType.md │ │ │ ├── FirmwareVersion.md │ │ │ ├── IPv4Settings.md │ │ │ ├── MACAddress.md │ │ │ ├── ModelNumber.md │ │ │ ├── PartNumber.md │ │ │ ├── PartNumberRevision.md │ │ │ ├── PowerOnSelfTestResult.md │ │ │ ├── RebootRqst.md │ │ │ ├── RunMode.md │ │ │ ├── SafetyConfiguration.md │ │ │ ├── SafetyConfigurationList.md │ │ │ ├── SafetyEnable.md │ │ │ ├── SafetyInformation.md │ │ │ ├── SafetyInformationList.md │ │ │ ├── SafetyStatus.md │ │ │ ├── SafetyThreshold.md │ │ │ └── SerialNumber.md │ │ ├── DeviceManager │ │ │ └── DeviceHandles.md │ │ ├── GripperCyclic │ │ │ ├── Command.md │ │ │ ├── CustomData.md │ │ │ ├── CustomDataUnit.md │ │ │ ├── Feedback.md │ │ │ ├── MessageId.md │ │ │ ├── MotorCommand.md │ │ │ └── MotorFeedback.md │ │ ├── InterconnectConfig │ │ │ ├── EthernetConfiguration.md │ │ │ ├── EthernetDeviceIdentification.md │ │ │ ├── GPIOConfiguration.md │ │ │ ├── GPIOIdentification.md │ │ │ ├── GPIOState.md │ │ │ ├── I2CConfiguration.md │ │ │ ├── I2CData.md │ │ │ ├── I2CDeviceIdentification.md │ │ │ ├── I2CReadParameter.md │ │ │ ├── I2CReadRegisterParameter.md │ │ │ ├── I2CWriteParameter.md │ │ │ └── I2CWriteRegisterParameter.md │ │ ├── InterconnectCyclic │ │ │ ├── Command.md │ │ │ ├── CustomData.md │ │ │ ├── Feedback.md │ │ │ └── MessageId.md │ │ ├── ProductConfiguration │ │ │ ├── CompleteProductConfiguration.md │ │ │ └── ProductConfigurationEndEffectorType.md │ │ ├── Session │ │ │ ├── ConnectionList.md │ │ │ └── CreateSessionInfo.md │ │ └── VisionConfig │ │ │ ├── DistortionCoefficients.md │ │ │ ├── ExtrinsicParameters.md │ │ │ ├── FocusPoint.md │ │ │ ├── IntrinsicParameters.md │ │ │ ├── IntrinsicProfileIdentifier.md │ │ │ ├── ManualFocus.md │ │ │ ├── OptionIdentifier.md │ │ │ ├── OptionInformation.md │ │ │ ├── OptionValue.md │ │ │ ├── RotationMatrix.md │ │ │ ├── RotationMatrixRow.md │ │ │ ├── SensorFocusAction.md │ │ │ ├── SensorIdentifier.md │ │ │ ├── SensorSettings.md │ │ │ ├── TranslationVector.md │ │ │ └── VisionNotification.md │ │ └── summary_pages │ │ ├── ActuatorConfig.md │ │ ├── ActuatorCyclic.md │ │ ├── Api.md │ │ ├── Base.md │ │ ├── BaseCyclic.md │ │ ├── Common.md │ │ ├── ControlConfig.md │ │ ├── DeviceConfig.md │ │ ├── DeviceManager.md │ │ ├── GripperConfig.md │ │ ├── GripperCyclic.md │ │ ├── InterconnectConfig.md │ │ ├── InterconnectCyclic.md │ │ ├── ProductConfiguration.md │ │ ├── Session.md │ │ └── VisionConfig.md ├── examples │ ├── 000-Getting_started │ │ ├── 01-api_creation.cpp │ │ ├── 02-protobuf_object_manipulation.cpp │ │ ├── 03-api_mechanism.cpp │ │ ├── 04-error_management.cpp │ │ └── 05-notification.cpp │ ├── 100-Overview │ │ ├── 01-devices_routing.cpp │ │ └── 02-protection_zones_configuration.cpp │ ├── 102-High_level_movement │ │ ├── 01-move_angular_and_cartesian.cpp │ │ ├── 02-sequence.cpp │ │ ├── 03-twist_command.cpp │ │ └── 04-send_joint_speeds.cpp │ ├── 103-Gen3_uart_bridge │ │ └── 01-uart_bridge.cpp │ ├── 104-Gen3_gpio_bridge │ │ ├── 01-gpio_bridge.cpp │ │ └── arduino_gpio_example_firmware │ │ │ └── arduino_gpio_example_firmware.ino │ ├── 105-Gen3_i2c_bridge │ │ └── 01-i2c_bridge.cpp │ ├── 106-Gripper_command │ │ └── 01-gripper_command.cpp │ ├── 107-Gripper_low_level_command │ │ └── 01-gripper_low_level_command.cpp │ ├── 108-Gen3_torque_control │ │ └── 01-torque_control_cyclic.cpp │ ├── 109-Gen3_ethernet_bridge │ │ ├── 01-ethernet_bridge_configuration.cpp │ │ ├── configure_route_to_device.bash │ │ ├── configure_route_to_device.bat │ │ └── readme.md │ ├── 110-Waypoints │ │ ├── 01-send_angular_wapoint_trajectory.cpp │ │ └── 02-send_cartesian_waypoint_trajectory.cpp │ ├── 111-Kinematics │ │ └── 01-compute-kinematics.cpp │ ├── 200-Actuator_low_level_control │ │ └── 01-actuator_low_level_velocity_control.cpp │ ├── 500-Gen3_vision_configuration │ │ ├── 01_vision_intrinsics.cpp │ │ ├── 02_vision_extrinsics.cpp │ │ ├── 03_vision_sensor_focus_action.cpp │ │ └── 04_vision_sensor_options.cpp │ ├── CMakeLists.txt │ ├── kortex_api │ │ └── readme.md │ ├── readme.md │ ├── scripts │ │ ├── build-gcc.sh │ │ ├── build-mingw.bat │ │ ├── build-msvc.bat │ │ ├── download_kortex_api.bat │ │ └── download_kortex_api.sh │ ├── thirdParty │ │ ├── conan.cmake │ │ └── cxxopts │ │ │ ├── LICENSE │ │ │ └── cxxopts.hpp │ ├── utilities.cpp │ └── utilities.h ├── gen3_6DoF_leader_follower_example │ ├── CMakeLists.txt │ ├── README.md │ ├── api_setup.cpp │ ├── arm_core_functions.cpp │ ├── include │ │ ├── api_setup.hpp │ │ └── arm_core_functions.hpp │ └── leader.cpp └── gen3_lite_leader_follower_example │ ├── CMakeLists.txt │ ├── README.md │ ├── api_setup.cpp │ ├── arm_core_functions.cpp │ ├── include │ ├── api_setup.hpp │ └── arm_core_functions.hpp │ └── leader.cpp ├── api_python ├── doc │ └── markdown │ │ ├── enums │ │ ├── ActuatorConfig │ │ │ ├── CoggingFeedforwardMode.md │ │ │ ├── CommandMode.md │ │ │ ├── ControlLoopSelection.md │ │ │ ├── ControlMode.md │ │ │ ├── CustomDataIndex.md │ │ │ ├── SafetyIdentifierBankA.md │ │ │ ├── SafetyLimitType.md │ │ │ └── ServiceVersion.md │ │ ├── ActuatorCyclic │ │ │ ├── CommandFlags.md │ │ │ ├── ServiceVersion.md │ │ │ └── StatusFlags.md │ │ ├── Api │ │ │ ├── ErrorCodes.md │ │ │ └── SubErrorCodes.md │ │ ├── Base │ │ │ ├── ActionEvent.md │ │ │ ├── ActionType.md │ │ │ ├── AdmittanceMode.md │ │ │ ├── BackupEvent.md │ │ │ ├── BridgeStatus.md │ │ │ ├── BridgeType.md │ │ │ ├── CapSenseMode.md │ │ │ ├── ConfigurationNotificationEvent.md │ │ │ ├── ControlMode.md │ │ │ ├── ControllerBehavior.md │ │ │ ├── ControllerElementEventType.md │ │ │ ├── ControllerEventType.md │ │ │ ├── ControllerInputType.md │ │ │ ├── ControllerType.md │ │ │ ├── EventIdSequenceInfoNotification.md │ │ │ ├── FactoryEvent.md │ │ │ ├── Gen3GpioPinId.md │ │ │ ├── GpioAction.md │ │ │ ├── GpioBehavior.md │ │ │ ├── GpioPinPropertyFlags.md │ │ │ ├── GripperMode.md │ │ │ ├── JointNavigationDirection.md │ │ │ ├── JointTrajectoryConstraintType.md │ │ │ ├── LedState.md │ │ │ ├── LimitationType.md │ │ │ ├── NavigationDirection.md │ │ │ ├── NetworkEvent.md │ │ │ ├── NetworkType.md │ │ │ ├── OperatingMode.md │ │ │ ├── ProtectionZoneEvent.md │ │ │ ├── RobotEvent.md │ │ │ ├── SafetyIdentifier.md │ │ │ ├── ServiceVersion.md │ │ │ ├── ServoingMode.md │ │ │ ├── ShapeType.md │ │ │ ├── SignalQuality.md │ │ │ ├── SnapshotType.md │ │ │ ├── SoundType.md │ │ │ ├── TrajectoryContinuityMode.md │ │ │ ├── TrajectoryErrorIdentifier.md │ │ │ ├── TrajectoryErrorType.md │ │ │ ├── TrajectoryInfoType.md │ │ │ ├── UserEvent.md │ │ │ ├── WifiEncryptionType.md │ │ │ ├── WifiSecurityType.md │ │ │ ├── WrenchMode.md │ │ │ ├── WristDigitalInputIdentifier.md │ │ │ ├── Xbox360AnalogInputIdentifier.md │ │ │ └── Xbox360DigitalInputIdentifier.md │ │ ├── BaseCyclic │ │ │ └── ServiceVersion.md │ │ ├── Common │ │ │ ├── ArmState.md │ │ │ ├── CartesianReferenceFrame.md │ │ │ ├── CountryCodeIdentifier.md │ │ │ ├── DeviceTypes.md │ │ │ ├── NotificationType.md │ │ │ ├── Permission.md │ │ │ ├── SafetyStatusValue.md │ │ │ ├── UARTParity.md │ │ │ ├── UARTSpeed.md │ │ │ ├── UARTStopBits.md │ │ │ ├── UARTWordLength.md │ │ │ └── Unit.md │ │ ├── ControlConfig │ │ │ ├── ControlConfigurationEvent.md │ │ │ ├── ControlMode.md │ │ │ └── ServiceVersion.md │ │ ├── DeviceConfig │ │ │ ├── CalibrationItem.md │ │ │ ├── CalibrationStatus.md │ │ │ ├── CapSenseMode.md │ │ │ ├── RunModes.md │ │ │ ├── SafetyLimitType.md │ │ │ └── ServiceVersion.md │ │ ├── DeviceManager │ │ │ └── ServiceVersion.md │ │ ├── GripperConfig │ │ │ ├── RobotiqGripperStatusFlags.md │ │ │ └── SafetyIdentifier.md │ │ ├── GripperCyclic │ │ │ └── ServiceVersion.md │ │ ├── InterconnectConfig │ │ │ ├── EthernetDevice.md │ │ │ ├── EthernetDuplex.md │ │ │ ├── EthernetSpeed.md │ │ │ ├── GPIOIdentifier.md │ │ │ ├── GPIOMode.md │ │ │ ├── GPIOPull.md │ │ │ ├── GPIOValue.md │ │ │ ├── I2CDevice.md │ │ │ ├── I2CDeviceAddressing.md │ │ │ ├── I2CMode.md │ │ │ ├── I2CRegisterAddressSize.md │ │ │ ├── SafetyIdentifier.md │ │ │ ├── ServiceVersion.md │ │ │ └── UARTPortId.md │ │ ├── InterconnectCyclic │ │ │ └── ServiceVersion.md │ │ ├── ProductConfiguration │ │ │ ├── ArmLaterality.md │ │ │ ├── BaseType.md │ │ │ ├── BrakeType.md │ │ │ ├── EndEffectorType.md │ │ │ ├── InterfaceModuleType.md │ │ │ ├── ModelId.md │ │ │ ├── VisionModuleType.md │ │ │ └── WristType.md │ │ ├── Session │ │ │ └── ServiceVersion.md │ │ └── VisionConfig │ │ │ ├── BitRate.md │ │ │ ├── FocusAction.md │ │ │ ├── FrameRate.md │ │ │ ├── Option.md │ │ │ ├── Resolution.md │ │ │ ├── Sensor.md │ │ │ ├── ServiceVersion.md │ │ │ └── VisionEvent.md │ │ ├── index.md │ │ ├── messages │ │ ├── ActuatorConfig │ │ │ ├── AxisOffsets.md │ │ │ ├── AxisPosition.md │ │ │ ├── CoggingFeedforwardModeInformation.md │ │ │ ├── CommandModeInformation.md │ │ │ ├── ControlLoop.md │ │ │ ├── ControlLoopParameters.md │ │ │ ├── ControlModeInformation.md │ │ │ ├── CustomDataSelection.md │ │ │ ├── EncoderDerivativeParameters.md │ │ │ ├── FrequencyResponse.md │ │ │ ├── LoopSelection.md │ │ │ ├── PositionCommand.md │ │ │ ├── RampResponse.md │ │ │ ├── Servoing.md │ │ │ ├── StepResponse.md │ │ │ ├── TorqueCalibration.md │ │ │ ├── TorqueOffset.md │ │ │ └── VectorDriveParameters.md │ │ ├── ActuatorCyclic │ │ │ ├── Command.md │ │ │ ├── CustomData.md │ │ │ ├── Feedback.md │ │ │ └── MessageId.md │ │ ├── Base │ │ │ ├── Action.md │ │ │ ├── ActionExecutionState.md │ │ │ ├── ActionHandle.md │ │ │ ├── ActionList.md │ │ │ ├── ActionNotification.md │ │ │ ├── ActionNotificationList.md │ │ │ ├── ActivateMapHandle.md │ │ │ ├── ActuatorInformation.md │ │ │ ├── Admittance.md │ │ │ ├── AdvancedSequenceHandle.md │ │ │ ├── AngularWaypoint.md │ │ │ ├── AppendActionInformation.md │ │ │ ├── ArmStateInformation.md │ │ │ ├── ArmStateNotification.md │ │ │ ├── BluetoothEnableState.md │ │ │ ├── BridgeConfig.md │ │ │ ├── BridgeIdentifier.md │ │ │ ├── BridgeList.md │ │ │ ├── BridgePortConfig.md │ │ │ ├── BridgeResult.md │ │ │ ├── CapSenseConfig.md │ │ │ ├── CartesianLimitation.md │ │ │ ├── CartesianLimitationList.md │ │ │ ├── CartesianSpeed.md │ │ │ ├── CartesianTrajectoryConstraint.md │ │ │ ├── CartesianWaypoint.md │ │ │ ├── ChangeJointSpeeds.md │ │ │ ├── ChangeTwist.md │ │ │ ├── ChangeWrench.md │ │ │ ├── CommunicationInterfaceConfiguration.md │ │ │ ├── ConfigurationChangeNotification.md │ │ │ ├── ConfigurationChangeNotificationList.md │ │ │ ├── ConstrainedJointAngle.md │ │ │ ├── ConstrainedJointAngles.md │ │ │ ├── ConstrainedOrientation.md │ │ │ ├── ConstrainedPose.md │ │ │ ├── ConstrainedPosition.md │ │ │ ├── ControlModeInformation.md │ │ │ ├── ControlModeNotification.md │ │ │ ├── ControlModeNotificationList.md │ │ │ ├── ControllerConfiguration.md │ │ │ ├── ControllerConfigurationList.md │ │ │ ├── ControllerConfigurationMode.md │ │ │ ├── ControllerElementHandle.md │ │ │ ├── ControllerElementState.md │ │ │ ├── ControllerEvent.md │ │ │ ├── ControllerHandle.md │ │ │ ├── ControllerList.md │ │ │ ├── ControllerNotification.md │ │ │ ├── ControllerNotificationList.md │ │ │ ├── ControllerState.md │ │ │ ├── Delay.md │ │ │ ├── EmergencyStop.md │ │ │ ├── FactoryNotification.md │ │ │ ├── Faults.md │ │ │ ├── Finger.md │ │ │ ├── FirmwareBundleVersions.md │ │ │ ├── FirmwareComponentVersion.md │ │ │ ├── FullIPv4Configuration.md │ │ │ ├── FullUserProfile.md │ │ │ ├── GpioCommand.md │ │ │ ├── GpioConfiguration.md │ │ │ ├── GpioConfigurationList.md │ │ │ ├── GpioEvent.md │ │ │ ├── GpioPinConfiguration.md │ │ │ ├── Gripper.md │ │ │ ├── GripperCommand.md │ │ │ ├── GripperRequest.md │ │ │ ├── IKData.md │ │ │ ├── IPv4Configuration.md │ │ │ ├── IPv4Information.md │ │ │ ├── JointAngle.md │ │ │ ├── JointAngles.md │ │ │ ├── JointLimitation.md │ │ │ ├── JointSpeed.md │ │ │ ├── JointSpeeds.md │ │ │ ├── JointTorque.md │ │ │ ├── JointTorques.md │ │ │ ├── JointTrajectoryConstraint.md │ │ │ ├── JointsLimitationsList.md │ │ │ ├── KinematicTrajectoryConstraints.md │ │ │ ├── Map.md │ │ │ ├── MapElement.md │ │ │ ├── MapEvent.md │ │ │ ├── MapGroup.md │ │ │ ├── MapGroupHandle.md │ │ │ ├── MapGroupList.md │ │ │ ├── MapHandle.md │ │ │ ├── MapList.md │ │ │ ├── Mapping.md │ │ │ ├── MappingHandle.md │ │ │ ├── MappingInfoNotification.md │ │ │ ├── MappingInfoNotificationList.md │ │ │ ├── MappingList.md │ │ │ ├── NetworkHandle.md │ │ │ ├── NetworkNotification.md │ │ │ ├── NetworkNotificationList.md │ │ │ ├── OperatingModeInformation.md │ │ │ ├── OperatingModeNotification.md │ │ │ ├── OperatingModeNotificationList.md │ │ │ ├── Orientation.md │ │ │ ├── PasswordChange.md │ │ │ ├── Point.md │ │ │ ├── Pose.md │ │ │ ├── Position.md │ │ │ ├── PreComputedJointTrajectory.md │ │ │ ├── PreComputedJointTrajectoryElement.md │ │ │ ├── ProtectionZone.md │ │ │ ├── ProtectionZoneHandle.md │ │ │ ├── ProtectionZoneInformation.md │ │ │ ├── ProtectionZoneList.md │ │ │ ├── ProtectionZoneNotification.md │ │ │ ├── ProtectionZoneNotificationList.md │ │ │ ├── Query.md │ │ │ ├── RFConfiguration.md │ │ │ ├── RequestedActionType.md │ │ │ ├── RobotEventNotification.md │ │ │ ├── RobotEventNotificationList.md │ │ │ ├── RotationMatrix.md │ │ │ ├── RotationMatrixRow.md │ │ │ ├── SafetyEvent.md │ │ │ ├── SafetyNotificationList.md │ │ │ ├── Sequence.md │ │ │ ├── SequenceHandle.md │ │ │ ├── SequenceInfoNotification.md │ │ │ ├── SequenceInfoNotificationList.md │ │ │ ├── SequenceInformation.md │ │ │ ├── SequenceList.md │ │ │ ├── SequenceTask.md │ │ │ ├── SequenceTaskConfiguration.md │ │ │ ├── SequenceTaskHandle.md │ │ │ ├── SequenceTasks.md │ │ │ ├── SequenceTasksConfiguration.md │ │ │ ├── SequenceTasksPair.md │ │ │ ├── SequenceTasksRange.md │ │ │ ├── ServoingModeInformation.md │ │ │ ├── ServoingModeNotification.md │ │ │ ├── ServoingModeNotificationList.md │ │ │ ├── Snapshot.md │ │ │ ├── Ssid.md │ │ │ ├── Stop.md │ │ │ ├── SwitchControlMapping.md │ │ │ ├── SystemTime.md │ │ │ ├── Timeout.md │ │ │ ├── TrajectoryErrorElement.md │ │ │ ├── TrajectoryErrorReport.md │ │ │ ├── TrajectoryInfo.md │ │ │ ├── TransformationMatrix.md │ │ │ ├── TransformationRow.md │ │ │ ├── Twist.md │ │ │ ├── TwistCommand.md │ │ │ ├── TwistLimitation.md │ │ │ ├── UserList.md │ │ │ ├── UserNotification.md │ │ │ ├── UserNotificationList.md │ │ │ ├── UserProfile.md │ │ │ ├── UserProfileList.md │ │ │ ├── Waypoint.md │ │ │ ├── WaypointList.md │ │ │ ├── WaypointValidationReport.md │ │ │ ├── WifiConfiguration.md │ │ │ ├── WifiConfigurationList.md │ │ │ ├── WifiEnableState.md │ │ │ ├── WifiInformation.md │ │ │ ├── WifiInformationList.md │ │ │ ├── Wrench.md │ │ │ ├── WrenchCommand.md │ │ │ ├── WrenchLimitation.md │ │ │ └── ZoneShape.md │ │ ├── BaseCyclic │ │ │ ├── ActuatorCommand.md │ │ │ ├── ActuatorCustomData.md │ │ │ ├── ActuatorFeedback.md │ │ │ ├── BaseFeedback.md │ │ │ ├── Command.md │ │ │ ├── CustomData.md │ │ │ └── Feedback.md │ │ ├── Common │ │ │ ├── Connection.md │ │ │ ├── CountryCode.md │ │ │ ├── DeviceHandle.md │ │ │ ├── Empty.md │ │ │ ├── NotificationHandle.md │ │ │ ├── NotificationOptions.md │ │ │ ├── SafetyHandle.md │ │ │ ├── SafetyNotification.md │ │ │ ├── Timestamp.md │ │ │ ├── UARTConfiguration.md │ │ │ ├── UARTDeviceIdentification.md │ │ │ └── UserProfileHandle.md │ │ ├── ControlConfig │ │ │ ├── AngularTwist.md │ │ │ ├── CartesianReferenceFrameInfo.md │ │ │ ├── CartesianTransform.md │ │ │ ├── ControlConfigurationNotification.md │ │ │ ├── ControlModeInformation.md │ │ │ ├── ControlModeNotification.md │ │ │ ├── DesiredSpeeds.md │ │ │ ├── GravityVector.md │ │ │ ├── JointAccelerationSoftLimits.md │ │ │ ├── JointSpeedSoftLimits.md │ │ │ ├── JointSpeeds.md │ │ │ ├── KinematicLimits.md │ │ │ ├── KinematicLimitsList.md │ │ │ ├── LinearTwist.md │ │ │ ├── PayloadInformation.md │ │ │ ├── Position.md │ │ │ ├── ToolConfiguration.md │ │ │ ├── TwistAngularSoftLimit.md │ │ │ └── TwistLinearSoftLimit.md │ │ ├── DeviceConfig │ │ │ ├── BootloaderVersion.md │ │ │ ├── Calibration.md │ │ │ ├── CalibrationElement.md │ │ │ ├── CalibrationParameter.md │ │ │ ├── CalibrationResult.md │ │ │ ├── CapSenseConfig.md │ │ │ ├── CapSenseRegister.md │ │ │ ├── DeviceType.md │ │ │ ├── FirmwareVersion.md │ │ │ ├── IPv4Settings.md │ │ │ ├── MACAddress.md │ │ │ ├── ModelNumber.md │ │ │ ├── PartNumber.md │ │ │ ├── PartNumberRevision.md │ │ │ ├── PowerOnSelfTestResult.md │ │ │ ├── RebootRqst.md │ │ │ ├── RunMode.md │ │ │ ├── SafetyConfiguration.md │ │ │ ├── SafetyConfigurationList.md │ │ │ ├── SafetyEnable.md │ │ │ ├── SafetyInformation.md │ │ │ ├── SafetyInformationList.md │ │ │ ├── SafetyStatus.md │ │ │ ├── SafetyThreshold.md │ │ │ └── SerialNumber.md │ │ ├── DeviceManager │ │ │ └── DeviceHandles.md │ │ ├── GripperCyclic │ │ │ ├── Command.md │ │ │ ├── CustomData.md │ │ │ ├── CustomDataUnit.md │ │ │ ├── Feedback.md │ │ │ ├── MessageId.md │ │ │ ├── MotorCommand.md │ │ │ └── MotorFeedback.md │ │ ├── InterconnectConfig │ │ │ ├── EthernetConfiguration.md │ │ │ ├── EthernetDeviceIdentification.md │ │ │ ├── GPIOConfiguration.md │ │ │ ├── GPIOIdentification.md │ │ │ ├── GPIOState.md │ │ │ ├── I2CConfiguration.md │ │ │ ├── I2CData.md │ │ │ ├── I2CDeviceIdentification.md │ │ │ ├── I2CReadParameter.md │ │ │ ├── I2CReadRegisterParameter.md │ │ │ ├── I2CWriteParameter.md │ │ │ └── I2CWriteRegisterParameter.md │ │ ├── InterconnectCyclic │ │ │ ├── Command.md │ │ │ ├── CustomData.md │ │ │ ├── Feedback.md │ │ │ └── MessageId.md │ │ ├── ProductConfiguration │ │ │ ├── CompleteProductConfiguration.md │ │ │ └── ProductConfigurationEndEffectorType.md │ │ ├── Session │ │ │ ├── ConnectionList.md │ │ │ └── CreateSessionInfo.md │ │ └── VisionConfig │ │ │ ├── DistortionCoefficients.md │ │ │ ├── ExtrinsicParameters.md │ │ │ ├── FocusPoint.md │ │ │ ├── IntrinsicParameters.md │ │ │ ├── IntrinsicProfileIdentifier.md │ │ │ ├── ManualFocus.md │ │ │ ├── OptionIdentifier.md │ │ │ ├── OptionInformation.md │ │ │ ├── OptionValue.md │ │ │ ├── RotationMatrix.md │ │ │ ├── RotationMatrixRow.md │ │ │ ├── SensorFocusAction.md │ │ │ ├── SensorIdentifier.md │ │ │ ├── SensorSettings.md │ │ │ ├── TranslationVector.md │ │ │ └── VisionNotification.md │ │ └── summary_pages │ │ ├── ActuatorConfig.md │ │ ├── ActuatorCyclic.md │ │ ├── Api.md │ │ ├── Base.md │ │ ├── BaseCyclic.md │ │ ├── Common.md │ │ ├── ControlConfig.md │ │ ├── DeviceConfig.md │ │ ├── DeviceManager.md │ │ ├── GripperConfig.md │ │ ├── GripperCyclic.md │ │ ├── InterconnectConfig.md │ │ ├── InterconnectCyclic.md │ │ ├── ProductConfiguration.md │ │ ├── Session.md │ │ └── VisionConfig.md └── examples │ ├── 000-Getting_Started │ ├── 01-api_creation.py │ ├── 02-protobuf_object_manipulation.py │ ├── 03-api_mechanism.py │ ├── 04-error_management.py │ └── 05-notification.py │ ├── 100-Overview │ ├── 01-devices_routing.py │ └── 02-protection_zones_configuration.py │ ├── 102-Movement_high_level │ ├── 01-move_angular_and_cartesian.py │ ├── 02-sequence.py │ ├── 03-twist_command.py │ └── 04-send_joint_speeds.py │ ├── 103-Gen3_uart_bridge │ └── 01-uart_bridge.py │ ├── 104-Gen3_gpio_bridge │ ├── 01-gpio_bridge.py │ └── arduino_gpio_example_firmware │ │ └── arduino_gpio_example_firmware.ino │ ├── 105-Gen3_i2c_bridge │ └── 01-i2c_bridge.py │ ├── 106-Gripper_command │ └── 01-gripper_command.py │ ├── 107-Gripper_low_level_command │ ├── 01-gripper_low_level_command.py │ └── kbhit.py │ ├── 108-Gen3_torque_control │ └── 01-torque_control_cyclic.py │ ├── 109-Gen3_ethernet_bridge │ ├── 01-ethernet_bridge_configuration.py │ ├── configure_route_to_device.bash │ ├── configure_route_to_device.bat │ └── readme.md │ ├── 110-Waypoints │ ├── 01-send_angular_wapoint_trajectory.py │ └── 02-send_cartesian_waypoint_trajectory.py │ ├── 111-kinematics │ └── 01-compute-kinematics.py │ ├── 500-Gen3_vision_configuration │ ├── 01-vision_intrinsics.py │ ├── 02-vision_extrinsics.py │ ├── 03-vision_sensor_focus_action.py │ └── 04-vision_sensor_options.py │ ├── readme.md │ └── utilities.py ├── contribute.md ├── linked_md ├── MinGW_5_4_install_setting.png ├── NotificationTopics.md ├── add_cmake_to_path.PNG ├── artifactory.png ├── cpp_api_mechanism.md ├── cpp_device_routing.md ├── cpp_error_management.md ├── cpp_servoing_modes.md ├── cpp_transport_router_session_notif.md ├── modbus_icd.md ├── python_api_mechanism.md ├── python_device_routing.md ├── python_error_management.md ├── python_quick_start.md ├── python_servoing_modes.md └── python_transport_router_session_notif.md ├── modbus └── examples │ ├── 000-Getting_Started │ └── 01-basic_functions.py │ ├── readme.md │ └── requirements.txt ├── readme.md ├── template_bug_report.md └── template_enhancement_request.md /.github/ISSUE_TEMPLATE/bug_report.md: -------------------------------------------------------------------------------- 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