The names of all digital input blocks.

The names of all digital output blocks.

The state of all analog input blocks as 'name, AnalogBlock' pair.

The state of all digital input blocks as 'name, DioBlock' pair.

The state of all digital output blocks as 'name, DioBlock' pair.

The state of all analog output blocks as 'name, AnalogBlock' pair.

The state of an AnalogBlock as 'bit_index, signal' pair.

An analog input block has an array of fields, each with an associated unit. This repeated field contains the unit names for each such field, in order.

The size of the analog input block (i.e. the number of fields).

Optional list of signal names. If provided, its size must match block_size.

absolute or relative timestamp.

7 values: x,y,z quaternion qx, qy, qz, qw

6 values: x,y,z,RX,RY,RZ

6 values: x,y,z,RX,RY,RZ

units are meters or radians per s, s^2, or s^3.

The size of the digital input/output block (i.e. the number of signals).

Optional list of signal names. If provided, its size must match block_size.

The state of a DioBlock as 'bit_index, signal' pair.

Map from digital input block name to a DigitalInputOutputConfig proto (see above).

Map from digital output block name to a DigitalInputOutputConfig proto (see above).

Map from analog input block name to an AnalogInputConfig proto (see above).

Map from analog input block name to an AnalogInputConfig proto (see above).

Joint space application limits for the Part. Actions will fall back to these if a user does not provide custom limits. Custom limits must be smaller than these in every dimension, or ICON will reject them.

Joint space system limits. These are purely informative – ICON clients must respect the application_limits above. ICON may slightly violate application_limits for performance reasons, but never violate system_limits.

Inverse kinematics solver name/key.

The joint_limits_config selected based on the active ModeOfSafeOperation. The safety_limits_config contains all possible limits.

The cartesian_limits_config selected based on the active ModeOfSafeOperation. The safety_limits_config contains all possible limits.

The key is intrinsic_proto.icon.ModeOfSafeOperation_Name() because proto doesn't support using enum types as keys in maps.

The key is intrinsic_proto.icon.ModeOfSafeOperation_Name() because proto doesn't support using enum types as keys in maps.

The sensed orientation.

The sensed angular velocity.

The sensed linear acceleration.

absolute or relative timestamp.

Position of each joint.

Velocity of each joint.

Acceleration of each joint.

Torque that a joint is applying

Position of each joint.

Velocity of each joint.

Position of each joint.

Velocity of each joint.

Acceleration of each joint.

The Cartesian arc length in meters tracked by the specified joint trajectory. This is optional and can be left empty. If this field is used, it should be the same length as the time_since_start.

Timestamp, in nanoseconds since the server started, when the status was obtained.

The state of joints associated with this part. Each JointState of a part is not guaranteed to have identical fields. May be empty.

The state of the gripper associated with this part.

If the Part has a kinematics model, this is the transformation from the base to the tip frame of the kinematic chain.

The wrench as sensed at the force-torque sensor, in the sensor's frame. The returned value is low-pass filtered, tared and payload compensated

The sensed wrench (wrench_at_ft) transformed to the robot tip frame.

The sensed Twist at the robot tip expressed in the base frame of the kinematic chain. WARNING: This value depends on the used kinematics solver and might not be accurate.

The state of the linear gripper associated with this part.

The state of all analog and digital inputs and outputs for this part.

The currently active cyclic control mode of the part.

The rangefinder status.

The wrench as sensed at the force-torque sensor, in the sensor's frame. The returned value is not compensated for gravity.

The operational status of the part.

The sensed rangefinder distance.

Timestamp, in nanoseconds, of the local time on the machine when this status was generated.

This field is optional so we can internally test whether it is being set, but users can expect this field to always be populated.

Timestamp, in nanoseconds since the server started, when this status was generated.

This field is optional so we can internally test whether it is being set, but users can expect this field to always be populated.

The operational status of the robot's server.

THe current speed override value.

Time (in ns, since the server started) when the output was last written to.

See the corresponding ActionSignature for the type name and FileDescriptorSet needed to unpack this.

Time (in ns) of the local time on the machine when this output was generated. Note this will be different than then timestamp_ns (they may even tick at different rates in some scenarios!). This time is meant only to be used to correlate the outputs with other logs from the platform.

Information on the action that produced this output.

required

required

The button is physically not available in this setup.

Log at every cycle.

Log at a throttled rate.