Base \(C++\)

This page describes the C++ Base API.

RPC reference

This section describes the existing RPCs used in this API.

Base service. Broadly useful service. Provides functions for configuring a range of base-related functionalities and for enabling high-level control for the robot.

BaseClient RPCs

Function name	Return type	Input type	Description
CreateUserProfile	UserProfileHandle	FullUserProfile	Creates a user profile and returns a handle to the profile
UpdateUserProfile	Empty	UserProfile	Updates an existing user profile
ReadUserProfile	UserProfile	UserProfileHandle	Retrieves an existing user profile
DeleteUserProfile	Empty	UserProfileHandle	Deletes an existing user profile
ReadAllUserProfiles	UserProfileList	Empty	Retrieves all user profiles
ReadAllUsers	UserList	Empty	Retrieves the list of all user profile handles
ChangePassword	Empty	PasswordChange	Changes the password of an existing user
CreateSequence	SequenceHandle	Sequence	Creates a new sequence and returns a handle to the sequence
UpdateSequence	Empty	Sequence	Updates an existing sequence
ReadSequence	Sequence	SequenceHandle	Retrieves an existing sequence
DeleteSequence	Empty	SequenceHandle	Deletes an existing sequence
ReadAllSequences	SequenceList	Empty	Retrieves the list of all existing sequences
PlaySequence	Empty	SequenceHandle	Plays an existing sequence
PlayAdvancedSequence	Empty	AdvancedSequenceHandle	Plays an existing sequence with options
StopSequence	Empty	Empty	Stops execution of currently playing sequence
PauseSequence	Empty	Empty	Pauses execution of currently playing sequence
ResumeSequence	Empty	Empty	Resumes execution of currently paused sequence
CreateProtectionZone	ProtectionZoneHandle	ProtectionZone	Creates a new protection zone and returns a handle to the protection zone
UpdateProtectionZone	Empty	ProtectionZone	Updates an existing protection zone
ReadProtectionZone	ProtectionZone	ProtectionZoneHandle	Retrieves an existing protection zone
DeleteProtectionZone	Empty	ProtectionZoneHandle	Deletes an existing protection zone
ReadAllProtectionZones	ProtectionZoneList	Empty	Retrieves a list of all protection zones
CreateMapping	MappingHandle	Mapping	Creates a new mapping
ReadMapping	Mapping	MappingHandle	Retrieves an existing mapping
UpdateMapping	Empty	Mapping	Updates an existing mapping
DeleteMapping	Empty	MappingHandle	Deletes an existing mapping
ReadAllMappings	MappingList	Empty	Retrieves a list of all mappings
CreateMap	MapHandle	Map	Creates a new map
ReadMap	Map	MapHandle	Retrieves an existing map
UpdateMap	Empty	Map	Updates an existing map
DeleteMap	Empty	MapHandle	Deletes an existing map
ReadAllMaps	MapList	MappingHandle	Retrieves a list of all maps associated to the specified mapping
ActivateMap	Empty	ActivateMapHandle	Activates the specified map within the specified map group and mapping
CreateAction	ActionHandle	Action	Creates a new action
ReadAction	Action	ActionHandle	Retrieves an existing action
ReadAllActions	ActionList	RequestedActionType	Retrieves a list of all existing actions
DeleteAction	Empty	ActionHandle	Deletes an existing action
UpdateAction	Empty	Action	Updates an existing action
ExecuteActionFromReference	Empty	ActionHandle	Commands the robot to execute the specified existing action
ExecuteAction	Empty	Action	Commands the robot to execute the specified action
PauseAction	Empty	Empty	Pauses the currently executed action. ResumeAction can be invoked afterwards
StopAction	Empty	Empty	Stops the currently executed action. ResumeAction cannot be invoked afterwards
ResumeAction	Empty	Empty	Resumes execution of the currently paused action
GetIPv4Configuration	IPv4Configuration	NetworkHandle	Retrieves the IPv4 network configuration for the specified network adapter
SetIPv4Configuration	Empty	FullIPv4Configuration	Modifies the IPv4 network configuration for the specified network adapter
SetCommunicationInterfaceEnable	Empty	CommunicationInterfaceConfiguration	Enables (or disables) the specified communication interface
IsCommunicationInterfaceEnable	CommunicationInterfaceConfiguration	NetworkHandle	Determines if the specified communication interface is enabled (or disabled)
GetAvailableWifi	WifiInformationList	Empty	Retrieves the list of available Wi-Fi networks
GetWifiInformation	WifiInformation	Ssid	Retrieves information about a specific Wi-Fi network
AddWifiConfiguration	Empty	WifiConfiguration	Configures a specific Wi-Fi network
DeleteWifiConfiguration	Empty	Ssid	Deletes a specific Wi-Fi network
GetAllConfiguredWifis	WifiConfigurationList	Empty	Retrieves the list of configured Wi-Fi networks
ConnectWifi	Empty	Ssid	Connects robot to specified Wi-Fi network
DisconnectWifi	Empty	Empty	Disconnects the robot from the currently connected Wi-Fi network
GetConnectedWifiInformation	WifiInformation	Empty	Retrieves information about the connected Wi-Fi network
Unsubscribe	Empty	NotificationHandle	Unsubscribes client from receiving notifications for the specified topic
OnNotificationConfigurationChangeTopic	NotificationHandle	NotificationOptions	Subscribes to configuration change topic for notifications
OnNotificationMappingInfoTopic	NotificationHandle	NotificationOptions	Subscribes to mapping information topic for notifications
OnNotificationControlModeTopic	NotificationHandle	NotificationOptions	Subscribes to control mode topic for notifications. This function may be removed in a future release. It has been moved to ControlConfig service.
OnNotificationOperatingModeTopic	NotificationHandle	NotificationOptions	Subscribes to operating mode topic for notifications
OnNotificationSequenceInfoTopic	NotificationHandle	NotificationOptions	Subscribes to sequence information topic for notifications
OnNotificationProtectionZoneTopic	NotificationHandle	NotificationOptions	Subscribes to protection zone topic for notifications
OnNotificationUserTopic	NotificationHandle	NotificationOptions	Subscribes to user topic for notifications
OnNotificationControllerTopic	NotificationHandle	NotificationOptions	Subscribes to controller topic for notifications
OnNotificationActionTopic	NotificationHandle	NotificationOptions	Subscribes to action topic for notifications
OnNotificationRobotEventTopic	NotificationHandle	NotificationOptions	Subscribes to robot event topic for notifications
PlayCartesianTrajectory	Empty	ConstrainedPose	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.. This function will be removed in a future release.
PlayCartesianTrajectoryPosition	Empty	ConstrainedPosition	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.. This function will be removed in a future release.
PlayCartesianTrajectoryOrientation	Empty	ConstrainedOrientation	Moves to the specifed orientation while imposing specified constraints. This RPC will be deprecated in a future version and will be replaced by ExecuteWaypointTrajectory.. This function will be removed in a future release.
Stop	Empty	Empty	Stops robot movement
GetMeasuredCartesianPose	Pose	Empty	Retrieves the current computed tool pose (position and orientation) for the robot
SendWrenchCommand	Empty	WrenchCommand	Sends a wrench command (screw consisting of force and torque) to be applied to the tool. This method is EXPERIMENTAL.
SendWrenchJoystickCommand	Empty	WrenchCommand	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.
SendTwistJoystickCommand	Empty	TwistCommand	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).
SendTwistCommand	Empty	TwistCommand	Sends a twist (screw consisting of linear and angular velocity) command to be applied to the tool
PlayJointTrajectory	Empty	ConstrainedJointAngles	Moves 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.. This function will be removed in a future release.
PlaySelectedJointTrajectory	Empty	ConstrainedJointAngle	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.. This function will be removed in a future release.
GetMeasuredJointAngles	JointAngles	Empty	Retrieves the currently measured joint angles for each joint
SendJointSpeedsCommand	Empty	JointSpeeds	Sends 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.
SendSelectedJointSpeedCommand	Empty	JointSpeed	Sends a speed command for a specific joint
SendGripperCommand	Empty	GripperCommand	Sends a command to move the gripper
GetMeasuredGripperMovement	Gripper	GripperRequest	Retrieves the current gripper movement, that is the current gripper position, force or speed
SetAdmittance	Empty	Admittance	Sets the robot in the chosen admittance mode
SetOperatingMode	Empty	OperatingModeInformation	Sets a new operating mode. Only Maintenance, Update and Run modes are permitted.
ApplyEmergencyStop	Empty	Empty	Stops robot movement and activates emergency stop state. You will not be able to move the robot. Use ClearFaults() to clear the stop.
ClearFaults	Empty	Empty	Clears robot stop. Robot is permitted to move again.
GetControlMode	ControlModeInformation	Empty	Retrieves current control mode. This function may be removed in a future release. It has been moved to ControlConfig service.
GetOperatingMode	OperatingModeInformation	Empty	Retrieves current operating mode
SetServoingMode	Empty	ServoingModeInformation	Sets the servoing mode
GetServoingMode	ServoingModeInformation	Empty	Retrieves current servoing mode
OnNotificationServoingModeTopic	NotificationHandle	NotificationOptions	Subscribes to servoing mode topic for notifications
RestoreFactorySettings	Empty	Empty	Deletes all configurations and reverts settings to their factory defaults (except network settings)
Reboot	Empty	Empty	Reboots the robot
OnNotificationFactoryTopic	NotificationHandle	NotificationOptions	Subscribes to factory topic for notifications
GetAllConnectedControllers	ControllerList	Empty	Retrieves the list of all connected controllers
GetControllerState	ControllerState	ControllerHandle	Retrieves the state of a specified controller
GetActuatorCount	ActuatorInformation	Empty	Retrieves the number of actuators in the robot
StartWifiScan	Empty	Empty	Initiates Wi-Fi scanning
GetConfiguredWifi	WifiConfiguration	Ssid	Retrieves a configured Wi-Fi network
OnNotificationNetworkTopic	NotificationHandle	NotificationOptions	Subscribes to network event notifications
GetArmState	ArmStateInformation	Empty	Retrieves current robot arm state
OnNotificationArmStateTopic	NotificationHandle	NotificationOptions	Subscribes to robot arm state notifications
GetIPv4Information	IPv4Information	NetworkHandle	Retrieves the IPv4 network information for the specified network adapter
SetWifiCountryCode	Empty	CountryCode	Sets the Wi-Fi country code
GetWifiCountryCode	CountryCode	Empty	Retrieves the Wi-Fi country code
SetCapSenseConfig	Empty	CapSenseConfig	Configures capacitive sensor on the gripper or wrist
GetCapSenseConfig	CapSenseConfig	Empty	Retrieves configuration of capacitive sensor on the gripper or wrist
GetAllJointsSpeedHardLimitation	JointsLimitationsList	Empty	Retrieves speed hard limits for all joints. This function will be removed in a future release. Use GetKinematicHardLimits from the ControlConfig service instead.
GetAllJointsTorqueHardLimitation	JointsLimitationsList	Empty	Retrieves torque hard limits for all joints. This function will be removed in a future release.
GetTwistHardLimitation	TwistLimitation	Empty	Retrieves twist hard limitations. This function will be removed in a future release. Use GetKinematicHardLimits from the ControlConfig service instead.
GetWrenchHardLimitation	WrenchLimitation	Empty	Retrieves wrench hard limitations. This function will be removed in a future release.
SendJointSpeedsJoystickCommand	Empty	JointSpeeds	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.
SendSelectedJointSpeedJoystickCommand	Empty	JointSpeed	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)
EnableBridge	BridgeResult	BridgeConfig	Enables TCP bridge to hardware device
DisableBridge	BridgeResult	BridgeIdentifier	Disables specified TCP bridge
GetBridgeList	BridgeList	Empty	Retrieves list of created bridges
GetBridgeConfig	BridgeConfig	BridgeIdentifier	Retrieves configuration for specified bridge
PlayPreComputedJointTrajectory	Empty	PreComputedJointTrajectory	Plays a pre-computed angular trajectory
GetProductConfiguration	CompleteProductConfiguration	Empty	Retrieves product configuration information
UpdateEndEffectorTypeConfiguration	Empty	ProductConfigurationEndEffectorType	Set new end-effector type in product configuration (Identification Number)
RestoreFactoryProductConfiguration	Empty	Empty	Restores product configuration to factory product configuration
GetTrajectoryErrorReport	TrajectoryErrorReport	Empty	Obtains trajectory error report listing errors for rejected trajectory. Provides some feedback on why the trajectory could not be completed.
GetAllJointsSpeedSoftLimitation	JointsLimitationsList	Empty	Retrieves list of soft speed limits for all joints. This function will be removed in a future release. Use GetKinematicSoftLimits from the ControlConfig service instead.
GetAllJointsTorqueSoftLimitation	JointsLimitationsList	Empty	Retrieves list of soft torque limits for all joints. This function will be removed in a future release.
GetTwistSoftLimitation	TwistLimitation	Empty	Retrieves all twist soft limitations. This function will be removed in a future release. Use GetKinematicSoftLimits from the ControlConfig service instead.
GetWrenchSoftLimitation	WrenchLimitation	Empty	Retrieves all wrench soft limitations. This function will be removed in a future release.
SetControllerConfigurationMode	Empty	ControllerConfigurationMode	Sets controller configuration mode
GetControllerConfigurationMode	ControllerConfigurationMode	Empty	Retrieves current controller configuration mode
StartTeaching	Empty	SequenceTaskHandle	Enables the teaching mode on a sequence
StopTeaching	Empty	Empty	Disables the teaching mode on a sequence
AddSequenceTasks	SequenceTasksRange	SequenceTasksConfiguration	Adds tasks to the specified sequence
UpdateSequenceTask	Empty	SequenceTaskConfiguration	Updates a task within the specified sequence
SwapSequenceTasks	Empty	SequenceTasksPair	Swaps two task indexes in a sequence
ReadSequenceTask	SequenceTask	SequenceTaskHandle	Reads a specific task from the specified sequence
ReadAllSequenceTasks	SequenceTasks	SequenceHandle	Reads all tasks from the specified sequence
DeleteSequenceTask	Empty	SequenceTaskHandle	Deletes a specific task from the specified sequence
DeleteAllSequenceTasks	Empty	SequenceHandle	Deletes all tasks from the specified sequence
TakeSnapshot	Empty	Snapshot	Take a snapshot of current robot Cartesian, joint or gripper position
GetFirmwareBundleVersions	FirmwareBundleVersions	Empty	Retrieves current firmware bundle versions
ExecuteWaypointTrajectory	Empty	WaypointList	Executes a trajectory defined by a series of waypoints in joint space or in Cartesian space
MoveSequenceTask	Empty	SequenceTasksPair	Move task to new index in a sequence
DuplicateMapping	MappingHandle	MappingHandle	Duplicates an existing mapping
DuplicateMap	MapHandle	MapHandle	Duplicates an existing map
SetControllerConfiguration	Empty	ControllerConfiguration	Sets controller configuration
GetControllerConfiguration	ControllerConfiguration	ControllerHandle	Retrieves current controller configuration
GetAllControllerConfigurations	ControllerConfigurationList	Empty	Retrieves all controller configurations
ComputeForwardKinematics	Pose	JointAngles	Get the forward kinematics given specified angular positions of actuators
ComputeInverseKinematics	JointAngles	IKData	Get the inverse kinematics given a specified cartesian pose and guess of joint angles
ValidateWaypointList	WaypointValidationReport	WaypointList	Validate 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.
SetWifiEnableState	Empty	WifiEnableState	Enable or disable the wifi capabilities on the arm
GetWifiEnableState	WifiEnableState	Empty	Get the wifi capabilities state (enabled or disabled)
SetBluetoothEnableState	Empty	BluetoothEnableState	Enable or disable the Bluetooth capabilities on the arm
GetBluetoothEnableState	BluetoothEnableState	Empty	Get the Bluetooth capabilities state (enabled or disabled)

Class reference

This section describes the data classes used in this API.

Messages

Class	Description
Action	Defines an action. An action is some task performed on the robot.
ActionExecutionState	Indicates the execution state of an action (not implemented yet)
ActionHandle	Reference to a specific action
ActionList	Array of actions
ActionNotification	Notification about a single action event
ActionNotificationList	Array of action notifications
ActivateMapHandle	Reference to a specific new active map for the specified mapping and map group
ActuatorInformation	A count of the number of actuators in the robot
Admittance	An admittance mode
AdvancedSequenceHandle	Reference to a sequence along with execution options
AngularWaypoint	An angular Waypoint
AppendActionInformation	Representation of the result of appending (adding at the end) an action to an existing sequence (not implemented yet)
ArmStateInformation	Information about the arm state
ArmStateNotification	Notification about a single arm state event
BluetoothEnableState
BridgeConfig	Bridge configuration information. It is used to either create a bridge or to retrieve information about an existing bridge
BridgeIdentifier	Bridge identifier
BridgeList	An array of configuration information for different bridges.
BridgePortConfig	Port configuration information for a TCP port bridge
BridgeResult	The result of an operation on a specific bridge
CapSenseConfig	Capacitive sensor configuration information
CartesianLimitation	Translation and orientation limits for a specified limit type for Cartesian configuration
CartesianLimitationList	Array of Cartesian limitations
CartesianSpeed	A Cartesian tool speed (translation speed and angular speed)
CartesianTrajectoryConstraint	Cartesian trajectory constraint that can be applied when controlling in Cartesian trajectory mode
CartesianWaypoint	A Cartesian Waypoint
ChangeJointSpeeds	Action to change the maximum angular velocity per joint by a specific increment
ChangeTwist	Action to change the maximum Cartesian velocity by a specific increment
ChangeWrench	Action to change the maximum Cartesian force by a specific increment
CommunicationInterfaceConfiguration	Configuration information for enabling or disabling a specific communication interface (e.g. Wi-Fi, Wired Ethernet)
ConfigurationChangeNotification	Representation of a configuration change event
ConfigurationChangeNotificationList	Array of configuration change notifications
ConstrainedJointAngle	A single joint angle value with specifed constraint
ConstrainedJointAngles	An array of joint angles values with specified constraint
ConstrainedOrientation	Cartesian tool orientation with specified constraint
ConstrainedPose	Cartesian tool pose with specified constraint
ConstrainedPosition	Cartesian tool position with specified constraint
ControlModeInformation	Control mode information This message may be removed in a future release. It has been moved to ControlConfig service.
ControlModeNotification	Notification about a single control mode event
ControlModeNotificationList	Array of control mode notifications
ControllerConfiguration	Controller configuration information
ControllerConfigurationList	Controller configuration information for multiple controllers
ControllerConfigurationMode	Controller configuration mode information
ControllerElementHandle	Reference ro a specific button (or axis) of a controller device
ControllerElementState	Indicates if a specific button (or axis) was pressed (or moved)
ControllerEvent	A controller event
ControllerHandle	Reference to a specific controller device
ControllerList	Array of references to different controllers
ControllerNotification	Notification about a single controller event
ControllerNotificationList	Array of controller notifications
ControllerState	Indicates if a specific controller is connected (or disconnected)
Delay	Action to apply a delay
EmergencyStop	Action to force an emergency of the robot
FactoryNotification	Notification about a single factory event
Faults	Action to clear faults
Finger	Movement of a specified gripper finger
FirmwareBundleVersions	Firmware bundle versions including main firmware bundle version and components versions
FirmwareComponentVersion	Individual component with its version
FullIPv4Configuration	IPv4 configuration for a specific network
FullUserProfile	Information about a user, together with a password. Full set of information needed to create a user profile.
GpioCommand	A command to control expansion port's GPIO
GpioConfiguration	GPIO port configuration information
GpioConfigurationList	List of GPIO port configurations
GpioEvent	A GPIO event
GpioPinConfiguration	GPIO pin configuration information
Gripper	Gripper movement composed of a series of fingers movement
GripperCommand	A command to control the gripper movement
GripperRequest	Request to apply a specific gripper mode
IKData	Input needed for the calculation of inverse kinematics
IPv4Configuration	IPv4 configuration information
IPv4Information	Information about an IPv4 endpoint
JointAngle	Angle value of a specific joint
JointAngles	An array of joint angles
JointLimitation	Limitation for a specified robot joint
JointSpeed	Speed of a specific joint
JointSpeeds	An array of joints speeds
JointTorque	joint torque for a specified joint
JointTorques	An array of joint torques
JointTrajectoryConstraint	Joint trajectory constraint that can be applied when controlling a joint in trajectory mode
JointsLimitationsList	Array of joint limitations
KinematicTrajectoryConstraints	Angular and Cartesian kinematic constraints (maximum velocities)
Map	A map as an array of map elements
MapElement	Associates an event to an action
MapEvent	A map event
MapGroup	All information about a map group including the list of maps that it contains and its relationship versus other map groups (not implemented yet)
MapGroupHandle	Reference to a specific map group (not implemented yet)
MapGroupList	Array of map groups (not implemented yet)
MapHandle	Reference to a specific map
MapList	Array of maps
Mapping	All 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
MappingHandle	Reference to a specific Mapping
MappingInfoNotification	Notification about a single mapping information event
MappingInfoNotificationList	Array of mapping information notifications
MappingList	Array of mappings
NetworkHandle	Reference to a network
NetworkNotification	Notification about a single network event
NetworkNotificationList	Array of network event notifications
OperatingModeInformation	Information about the operating mode
OperatingModeNotification	Notification about a single operating mode event
OperatingModeNotificationList	Array of operating mode notifications
Orientation	A 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.
PasswordChange	Information required to change user password
Point	Coordinates of a Cartesian point
Pose	A 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.
Position	A Cartesian tool position
PreComputedJointTrajectory	Pre-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.
PreComputedJointTrajectoryElement	Set 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.
ProtectionZone	Protection zone configuration
ProtectionZoneHandle	Reference to a specific protection zone
ProtectionZoneInformation	Information about a protection zone event
ProtectionZoneList	Array of protection zones
ProtectionZoneNotification	Notification about a single protection zone event
ProtectionZoneNotificationList	Array of protection zone notifications
Query	Parameters of an event log query (not implemented yet)
RFConfiguration
RequestedActionType	Message used for requesting all action instances of a specific action type
RobotEventNotification	Notification about a single robot event
RobotEventNotificationList	Array of robot event notifications
RotationMatrix	Representation 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.
RotationMatrixRow	Single 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).
SafetyEvent	A safety event (not implemented yet)
SafetyNotificationList	Array of safety notifications
Sequence	Information about a sequence
SequenceHandle	Reference to a specific sequence
SequenceInfoNotification	Notification about a single sequence information event
SequenceInfoNotificationList	Array of sequence information notifications
SequenceInformation	Information about a sequence
SequenceList	An array of sequences
SequenceTask	Information on a single task within a sequence
SequenceTaskConfiguration	Reference to a specific task within a sequence, and configuration information on task to be updated
SequenceTaskHandle	Reference to a specific task inside a sequence
SequenceTasks	Information on multiple tasks within a sequence
SequenceTasksConfiguration	Reference to a specific task within a sequence, and information on list of sequence tasks to be inserted
SequenceTasksPair	Information on a sequence and a pair of tasks to be operated on
SequenceTasksRange	Information on a range of task indexes
ServoingModeInformation	Information about the servoing mode
ServoingModeNotification	Notification about a single servoing mode event
ServoingModeNotificationList	Array of servoing mode notifications
Snapshot	Action parameter to take a snapshot of current robot position
Ssid	Wi-Fi SSID
Stop	Action to stop robot movement
SwitchControlMapping	Action parameter to switch the active controller map
SystemTime	Identifies the system time (not implemented yet)
Timeout	Timeout for a specified duration
TrajectoryErrorElement	Details for a single trajectory validation error
TrajectoryErrorReport	Report collecting information on different validation errors for a particular trajectory
TrajectoryInfo	Additional trajectory information
TransformationMatrix	A 4x4 homogeneous transformation matrix representing the transformation between two reference frames.
TransformationRow	A single row of a 4x4 homogeneous transformation matrix
Twist	A twist (linear and angular velocity).
TwistCommand	A twist command to be applied to the tool
TwistLimitation	Linear and angular speed limitations for twist configuration
UserList	Array of user profile handles
UserNotification	Notification about a single user event
UserNotificationList	Array of user notifications
UserProfile	Information about a user
UserProfileList	Array of user profiles
Waypoint	A waypoint describing part of a trajectory.
WaypointList	A waypoint list
WaypointValidationReport	Waypoint Validation results
WifiConfiguration	Wi-Fi connection configuration
WifiConfigurationList	Array of Wi-Fi connection configuration for different networks
WifiEnableState
WifiInformation	Information about a specific Wi-Fi network
WifiInformationList	Array of information about different Wi-Fi networks
Wrench	A wrench (force and torque)
WrenchCommand	A wrench command to be applied to the tool
WrenchLimitation	Force and torque limitations for wrench configuration
ZoneShape	Protection zone shape description

Enumerators

Enumerator	Description
ActionEvent	Admissible action event types
ActionType	Admissible types of actions
AdmittanceMode	Admissible admittance modes
BackupEvent	Admissible backup events (not implemented yet)
BridgeStatus	Bridge operation status
BridgeType	Type of port forward bridge to create
CapSenseMode	Admissible capacitive sensor modes
ConfigurationNotificationEvent	Admissible configuration events
ControlMode	Admissible robot control modes. This enum may be removed in a future release. It has been moved to ControlConfig service.
ControllerBehavior	Admissible controller input behaviors
ControllerElementEventType	Admissible controller element event types
ControllerEventType	Admissible controller event types
ControllerInputType	Admissible controller input types
ControllerType	Admissible controller types
EventIdSequenceInfoNotification	Admissible sequence event types
FactoryEvent	Admissible factory events
Gen3GpioPinId	Available GPIO PIN (See the user guide at section Base expansion connector)
GpioAction	Admissible GPIO actions
GpioBehavior	Admissible GPIO behavior
GpioPinPropertyFlags	Admissible gpio pin properties
GripperMode	Admissible gripper control mode
JointNavigationDirection	Admissible joint navigation directions
JointTrajectoryConstraintType	Admissible constraint types that can be applied when controlling a joint in trajectory mode
LedState	Admissible LED states (not implemented yet)
LimitationType	Admissible limitation types
NavigationDirection	Admissible map navigation directions
NetworkEvent	Admissible network events
NetworkType	Admissible network types
OperatingMode	Admissible robot operating modes (used to report robot firmware upgrade current state)
ProtectionZoneEvent	Admissible protection zone events
RobotEvent	Admissible robot events
SafetyIdentifier	Admissible Base safeties. Used with BaseCyclic.BaseFeedback.[fault_bank_a
ServiceVersion	Identifies Base service current version
ServoingMode	Admissible servoing modes
ShapeType	Admissible protection zone shape types
SignalQuality	Admissible signal quality values
SnapshotType	Admissible types of snapshots
SoundType	Admissible sound types (not implemented yet)
TrajectoryContinuityMode	Admissible trajectory continuity mode
TrajectoryErrorIdentifier	This enum is deprecated and will be removed in a future release
TrajectoryErrorType	Trajectory validation error types
TrajectoryInfoType	Additional trajectory info type
UserEvent	Admissible user event types
WifiEncryptionType	Admissible Wi-Fi encryption types
WifiSecurityType	Admissible Wi-Fi Security types
WrenchMode	Admissible wrench (force) modes
WristDigitalInputIdentifier	Admissible Wrist digital inputs
Xbox360AnalogInputIdentifier	Admissible XBOX360 analog inputs
Xbox360DigitalInputIdentifier	Admissible XBOX360 digital inputs