update links to KortexAPI2.6.0 and update doc (#177)

Kinovarobotics · Jul 10, 2023 · 6f557a8 · 6f557a8
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diff --git a/api_cpp/doc/markdown/enums/ActuatorConfig/SafetyIdentifierBankA.md b/api_cpp/doc/markdown/enums/ActuatorConfig/SafetyIdentifierBankA.md
@@ -34,6 +34,8 @@ Enumeration SafetyIdentifierBankA
 |UNRELIABLE\_CAPACITIVE\_SENSOR|16777216|0x1000000 - Capacitive sensor is unreliable|
 |UNEXPECTED\_GEAR\_RATIO|33554432|0x2000000 - Incorrect gear ratio for detected configuration|
 |HALL\_MAGNETIC\_MISMATCH|67108864|0x4000000 - Position mismatch between hall and magnetic sensors|
+|BRAKE\_DRIVE\_FAULT|134217728|0x8000000 - Brake driver fault|
+|BRAKE\_RELEASE\_MOTION\_OUT\_OF\_RANGE|268435456|0x10000000 - Brake release motion goes out of allowed range|
 
 **Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md)
 
diff --git a/api_cpp/doc/markdown/enums/Base/SafetyIdentifier.md b/api_cpp/doc/markdown/enums/Base/SafetyIdentifier.md
@@ -15,7 +15,7 @@ Enumeration SafetyIdentifier
 |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 \(not implemented yet\)|
-|ABOVE\_MAXIMUM\_DOF|256|0x100 - Above maximum DoF|
+|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|

diff --git a/api_cpp/doc/markdown/enums/Common/ArmState.md b/api_cpp/doc/markdown/enums/Common/ArmState.md
@@ -16,6 +16,7 @@ Enumeration ArmState
 |ARMSTATE\_SERVOING\_READY|7|Arm is ready to be controlled|
 |ARMSTATE\_SERVOING\_PLAYING\_SEQUENCE|8|Arm is currently being controlled via a sequence|
 |ARMSTATE\_SERVOING\_MANUALLY\_CONTROLLED|9|Arm is currently being controlled manually|
+|ARMSTATE\_BRAKE\_RELEASING|10|Arm brakes are being released|
 |ARMSTATE\_RESERVED|255|For debugging, this state must never be reported outside the base. this means that a state is not mapped correctly|
 
 **Parent topic:** [Common \(C++\)](../../summary_pages/Common.md)

diff --git a/api_cpp/doc/markdown/enums/ProductConfiguration/BrakeType.md b/api_cpp/doc/markdown/enums/ProductConfiguration/BrakeType.md
@@ -0,0 +1,15 @@
+# enum BrakeType
+
+## Overview / Purpose
+
+Enumeration BrakeType
+
+|Enumerator|Value|Description|
+|----------|-----|-----------|
+|BRAKE\_TYPE\_UNSPECIFIED|0|Unspecified brake type|
+|BRAKE\_TYPE\_NOT\_INSTALLED|1|No Brakes Installed|
+|BRAKE\_TYPE\_SPOKE|2|Spoke Brake Type|
+|BRAKE\_TYPE\_CLUTCH|3|Clutch Brake Type|
+
+**Parent topic:** [ProductConfiguration \(C++\)](../../summary_pages/ProductConfiguration.md)
+
diff --git a/api_cpp/doc/markdown/index.md b/api_cpp/doc/markdown/index.md
@@ -399,6 +399,7 @@
     -   [class ProductConfigurationEndEffectorType](messages/ProductConfiguration/ProductConfigurationEndEffectorType.md)
     -   [enum ArmLaterality](enums/ProductConfiguration/ArmLaterality.md)
     -   [enum BaseType](enums/ProductConfiguration/BaseType.md)
+    -   [enum BrakeType](enums/ProductConfiguration/BrakeType.md)
     -   [enum EndEffectorType](enums/ProductConfiguration/EndEffectorType.md)
     -   [enum InterfaceModuleType](enums/ProductConfiguration/InterfaceModuleType.md)
     -   [enum ModelId](enums/ProductConfiguration/ModelId.md)

diff --git a/api_cpp/doc/markdown/messages/Base/CartesianSpeed.md b/api_cpp/doc/markdown/messages/Base/CartesianSpeed.md
@@ -5,7 +5,7 @@
 |Member name|Data type|Description|
 |-----------|---------|-----------|
 |translation|float32|Translation speed \(in meters per second\)|
-|orientation|float32|Orientation speed \(in degrees per second\)|
+|orientation|float32|Orientation speed \(in degrees per second\) \(not implemented yet\)|
 
  **Member functions** 
 

diff --git a/api_cpp/doc/markdown/messages/ProductConfiguration/CompleteProductConfiguration.md b/api_cpp/doc/markdown/messages/ProductConfiguration/CompleteProductConfiguration.md
@@ -16,6 +16,7 @@
 |interface\_module\_type|uint32|Interface module type of the device|
 |arm\_laterality|uint32|Arm laterality of the device|
 |wrist\_type|uint32|Wrist type of the device|
+|brake\_type|uint32|Brake type of the device|
 
  **Member functions** 
 
@@ -75,6 +76,9 @@
 |wrist\_type\(\) const|uint32|void|Returns the current value of wrist\_type. If the wrist\_type is not set, returns 0.|
 |set\_wrist\_type\(\)|void|uint32|Sets the value of wrist\_type. After calling this, wrist\_type\(\) will return value.|
 |clear\_wrist\_type\(\)|void|void|Clears the value of wrist\_type. After calling this, wrist\_type\(\) will return the empty string/empty bytes.|
+|brake\_type\(\) const|uint32|void|Returns the current value of brake\_type. If the brake\_type is not set, returns 0.|
+|set\_brake\_type\(\)|void|uint32|Sets the value of brake\_type. After calling this, brake\_type\(\) will return value.|
+|clear\_brake\_type\(\)|void|void|Clears the value of brake\_type. After calling this, brake\_type\(\) will return the empty string/empty bytes.|
 
 **Parent topic:** [ProductConfiguration \(C++\)](../../summary_pages/ProductConfiguration.md)
 
diff --git a/api_cpp/doc/markdown/summary_pages/ProductConfiguration.md b/api_cpp/doc/markdown/summary_pages/ProductConfiguration.md
@@ -23,6 +23,7 @@ This section describes the data classes used in this API.
 |----------|-----------|
 |[ArmLaterality](../enums/ProductConfiguration/ArmLaterality.md#)|Admissible arm laterality|
 |[BaseType](../enums/ProductConfiguration/BaseType.md#)|Admissible base types|
+|[BrakeType](../enums/ProductConfiguration/BrakeType.md#)|Admissible brake types|
 |[EndEffectorType](../enums/ProductConfiguration/EndEffectorType.md#)|Admissible end-effector modules|
 |[InterfaceModuleType](../enums/ProductConfiguration/InterfaceModuleType.md#)|Admissible interface modules|
 |[ModelId](../enums/ProductConfiguration/ModelId.md#)|Admissible model identification|

diff --git a/api_cpp/examples/CMakeLists.txt b/api_cpp/examples/CMakeLists.txt
@@ -29,7 +29,7 @@
 # ----------------------------------------------------------------------------
 cmake_minimum_required(VERSION 3.5)
 
-project(kortexApiCppExamples VERSION 2.3.0 LANGUAGES CXX)
+project(kortexApiCppExamples VERSION 2.6.0 LANGUAGES CXX)
 
 set(CMAKE_INCLUDE_CURRENT_DIR   ON)
 set(CMAKE_VERBOSE_MAKEFILE      ON)
@@ -120,7 +120,7 @@ if(USE_CONAN)
     URL https://artifactory.kinovaapps.com/artifactory/api/conan/conan-public)
 
   if(UNIX)
-    conan_cmake_run(REQUIRES kortex_api_cpp/2.3.0-r.34@kortex/stable
+    conan_cmake_run(REQUIRES kortex_api_cpp/2.6.0-r.3@kortex/stable
                     SETTINGS kortex_api_cpp:compiler=gcc
                     SETTINGS kortex_api_cpp:compiler.version=5
                     SETTINGS compiler.libcxx=libstdc++11
@@ -141,13 +141,13 @@ if(USE_CONAN)
         set(kortex_api_cpp_target "msvc-2019")
       endif()
 
-      conan_cmake_run(REQUIRES kortex_api_cpp/2.3.0-r.34@kortex/stable
+      conan_cmake_run(REQUIRES kortex_api_cpp/2.6.0-r.3@kortex/stable
                       PROFILE_AUTO build_type
                       BASIC_SETUP
                       UPDATE)
 
     else()
-      conan_cmake_run(REQUIRES kortex_api_cpp/2.3.0-r.34@kortex/stable
+      conan_cmake_run(REQUIRES kortex_api_cpp/2.6.0-r.3@kortex/stable
                       SETTINGS kortex_api_cpp:compiler=gcc
                       SETTINGS kortex_api_cpp:compiler.version=5
                       SETTINGS compiler.libcxx=libstdc++11

diff --git a/api_cpp/examples/readme.md b/api_cpp/examples/readme.md
@@ -161,7 +161,7 @@ Example (build-mingw.bat)
 ```
 
 This will effectively revert to the old build method. It requires downloading the Kortex Api library:
- + Download the archive via Kinova's Artifactory server: [kortex_api](https://artifactory.kinovaapps.com/ui/repos/tree/General/generic-public/kortex/API/2.5.0/)
+ + Download the archive via Kinova's Artifactory server: [kortex_api](https://artifactory.kinovaapps.com/ui/repos/tree/General/generic-public/kortex/API/2.6.0/)
  + Uncompress the content of the archive and place it in the directory `kortex_api`.  
 
 ```sh

diff --git a/api_cpp/examples/scripts/download_kortex_api.bat b/api_cpp/examples/scripts/download_kortex_api.bat
@@ -15,7 +15,7 @@ if exist ..\kortex_api\%subdir%include\ (
 
 if /I "%return_code%" equ "1" (
     echo You need to download the Kortex API
-    echo Please download it here : https://artifactory.kinovaapps.com/artifactory/generic-public/kortex/API/2.3.0/
+    echo Please download it here : https://artifactory.kinovaapps.com/artifactory/generic-public/kortex/API/2.6.0/
     echo Choose the proper archive for your target
     echo Unzip it in api_cpp\examples\kortex_api
 )

diff --git a/api_cpp/examples/scripts/download_kortex_api.sh b/api_cpp/examples/scripts/download_kortex_api.sh
@@ -15,7 +15,7 @@ fi
 
 if [ "${return_code}" -eq "1" ]; then
     echo "You need to download the Kortex API"
-    echo "Please download it here : https://artifactory.kinovaapps.com/artifactory/generic-public/kortex/API/2.3.0/"
+    echo "Please download it here : https://artifactory.kinovaapps.com/artifactory/generic-public/kortex/API/2.6.0/"
     echo "Choose the proper archive for your target"
     echo "Unzip it in api_cpp\examples\kortex_api"
 fi

diff --git a/api_python/doc/markdown/enums/ActuatorConfig/SafetyIdentifierBankA.md b/api_python/doc/markdown/enums/ActuatorConfig/SafetyIdentifierBankA.md
@@ -34,6 +34,8 @@ Enumeration SafetyIdentifierBankA
 |UNRELIABLE\_CAPACITIVE\_SENSOR|16777216|0x1000000 - Capacitive sensor is unreliable|
 |UNEXPECTED\_GEAR\_RATIO|33554432|0x2000000 - Incorrect gear ratio for detected configuration|
 |HALL\_MAGNETIC\_MISMATCH|67108864|0x4000000 - Position mismatch between hall and magnetic sensors|
+|BRAKE\_DRIVE\_FAULT|134217728|0x8000000 - Brake driver fault|
+|BRAKE\_RELEASE\_MOTION\_OUT\_OF\_RANGE|268435456|0x10000000 - Brake release motion goes out of allowed range|
 
 **Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md)
 
diff --git a/api_python/doc/markdown/enums/Base/SafetyIdentifier.md b/api_python/doc/markdown/enums/Base/SafetyIdentifier.md
@@ -15,7 +15,7 @@ Enumeration SafetyIdentifier
 |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 \(not implemented yet\)|
-|ABOVE\_MAXIMUM\_DOF|256|0x100 - Above maximum DoF|
+|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|

diff --git a/api_python/doc/markdown/enums/Common/ArmState.md b/api_python/doc/markdown/enums/Common/ArmState.md
@@ -16,6 +16,7 @@ Enumeration ArmState
 |ARMSTATE\_SERVOING\_READY|7|Arm is ready to be controlled|
 |ARMSTATE\_SERVOING\_PLAYING\_SEQUENCE|8|Arm is currently being controlled via a sequence|
 |ARMSTATE\_SERVOING\_MANUALLY\_CONTROLLED|9|Arm is currently being controlled manually|
+|ARMSTATE\_BRAKE\_RELEASING|10|Arm brakes are being released|
 |ARMSTATE\_RESERVED|255|For debugging, this state must never be reported outside the base. this means that a state is not mapped correctly|
 
 **Parent topic:** [Common \(Python\)](../../summary_pages/Common.md)

diff --git a/api_python/doc/markdown/enums/ProductConfiguration/BrakeType.md b/api_python/doc/markdown/enums/ProductConfiguration/BrakeType.md
@@ -0,0 +1,15 @@
+# Enum BrakeType
+
+## Overview / Purpose
+
+Enumeration BrakeType
+
+|Enumerator|Value|Description|
+|----------|-----|-----------|
+|BRAKE\_TYPE\_UNSPECIFIED|0|Unspecified brake type|
+|BRAKE\_TYPE\_NOT\_INSTALLED|1|No Brakes Installed|
+|BRAKE\_TYPE\_SPOKE|2|Spoke Brake Type|
+|BRAKE\_TYPE\_CLUTCH|3|Clutch Brake Type|
+
+**Parent topic:** [ProductConfiguration \(Python\)](../../summary_pages/ProductConfiguration.md)
+
diff --git a/api_python/doc/markdown/index.md b/api_python/doc/markdown/index.md
@@ -399,6 +399,7 @@
     -   [class ProductConfigurationEndEffectorType](messages/ProductConfiguration/ProductConfigurationEndEffectorType.md)
     -   [Enum ArmLaterality](enums/ProductConfiguration/ArmLaterality.md)
     -   [Enum BaseType](enums/ProductConfiguration/BaseType.md)
+    -   [Enum BrakeType](enums/ProductConfiguration/BrakeType.md)
     -   [Enum EndEffectorType](enums/ProductConfiguration/EndEffectorType.md)
     -   [Enum InterfaceModuleType](enums/ProductConfiguration/InterfaceModuleType.md)
     -   [Enum ModelId](enums/ProductConfiguration/ModelId.md)

diff --git a/api_python/doc/markdown/messages/Base/CartesianSpeed.md b/api_python/doc/markdown/messages/Base/CartesianSpeed.md
@@ -5,7 +5,7 @@
 |Member name|Data type|Description|Usage|
 |-----------|---------|-----------|-----|
 |translation|float|Translation speed \(in meters per second\)|You can manipulate the field translation as if it were a regular field. To clear the value of translation and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.|
-|orientation|float|Orientation speed \(in degrees per second\)|You can manipulate the field orientation as if it were a regular field. To clear the value of orientation and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.|
+|orientation|float|Orientation speed \(in degrees per second\) \(not implemented yet\)|You can manipulate the field orientation as if it were a regular field. To clear the value of orientation and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.|
 
 **Parent topic:** [Base \(Python\)](../../summary_pages/Base.md)
 
diff --git a/...thon/doc/markdown/messages/ProductConfiguration/CompleteProductConfiguration.md b/...thon/doc/markdown/messages/ProductConfiguration/CompleteProductConfiguration.md
@@ -16,6 +16,7 @@
 |interface\_module\_type|int|Interface module type of the device|You can manipulate the field interface\_module\_type as if it were a regular field. To clear the value of interface\_module\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.|
 |arm\_laterality|int|Arm laterality of the device|You can manipulate the field arm\_laterality as if it were a regular field. To clear the value of arm\_laterality and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.|
 |wrist\_type|int|Wrist type of the device|You can manipulate the field wrist\_type as if it were a regular field. To clear the value of wrist\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.|
+|brake\_type|int|Brake type of the device|You can manipulate the field brake\_type as if it were a regular field. To clear the value of brake\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.|
 
 **Parent topic:** [ProductConfiguration \(Python\)](../../summary_pages/ProductConfiguration.md)
 
diff --git a/api_python/doc/markdown/summary_pages/ProductConfiguration.md b/api_python/doc/markdown/summary_pages/ProductConfiguration.md
@@ -23,6 +23,7 @@ This section describes the data classes used in this API.
 |----------|-----------|
 |[ArmLaterality](../enums/ProductConfiguration/ArmLaterality.md#)|Admissible arm laterality|
 |[BaseType](../enums/ProductConfiguration/BaseType.md#)|Admissible base types|
+|[BrakeType](../enums/ProductConfiguration/BrakeType.md#)|Admissible brake types|
 |[EndEffectorType](../enums/ProductConfiguration/EndEffectorType.md#)|Admissible end-effector modules|
 |[InterfaceModuleType](../enums/ProductConfiguration/InterfaceModuleType.md#)|Admissible interface modules|
 |[ModelId](../enums/ProductConfiguration/ModelId.md#)|Admissible model identification|

diff --git a/api_python/examples/readme.md b/api_python/examples/readme.md
@@ -43,7 +43,7 @@ Refer to the main README for Python installation details: [parent readme](../../
 
 Install what is needed to run the examples via a downloaded whl file (Python wheel package).
 
-The whl file can be downloaded via the Kinova Artifactory: [kortex_api](https://artifactory.kinovaapps.com/ui/api/v1/download?repoKey=generic-public&path=kortex%2FAPI%2F2.5.0%2Fkortex_api-2.5.0.post6-py3-none-any.whl)  
+The whl file can be downloaded via the Kinova Artifactory: [kortex_api](https://artifactory.kinovaapps.com:443/artifactory/generic-public/kortex/API/2.6.0/kortex_api-2.6.0.post3-py3-none-any.whl)  
 
 On Linux: