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Code examples and API documentation for KINOVA® KORTEX™ robotic arms
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readme.md

KINOVA® KORTEX™ API Reference

Description

The official repository contains documentation and examples explaining how to use the KINOVA® KORTEX™ API client with C++ or Python. The repository has been tested on Windows 10, Ubuntu 16.04 and Ubuntu 18.04.

Table of Contents

Licensing

This repository is licenced under the BSD 3-Clause "Revised" License

Role of Google Protocol Buffer in Kortex API

The Kortex API uses Google Protocol Buffer message objects1 to exchange data between client and server.

Google Protocol Buffer offers structured data objects with standard methods for each member field:

  • structured, nested objects
  • basic types and collections
  • getter/setter methods on basic types
  • iterators, dimension and appending methods on collections
  • many helpers (e.g. serialize/deserialize, I/O functions)

When using the Kortex API a developer will need to understand the Google Protocol Buffer feature set to maximize their efficiency.

Quick Start for C++ users

The following links provide some helpful guidance for C++ developer. You will find information about Kortex mechanism and some code examples.

Quick Start for Python users

To run the Python examples you will need to install the Python interpreter and the pip installation module.

Note that for C++ developers it could be useful to install the Python Kortex API to allow for quick tests and validations.

Here is some general information about the Python interpreter and the pip module manager.

Download links

The latest download links for each arm type are reported in the table below:

Arm type Firmware Release notes API
Gen3 2.2.0 2.2.0 2.2.0
Gen3 lite 2.1.1 2.1.1 2.1.0

When following the link to Artifactory, to download the correct C++ API, you have to select the package for your architecture on the left-hand side tree view and then click Download on the right-hand side:

Artifactory

Previous releases

Build and Run instructions

C++ API
Python API

Reference

Useful Links

Kinova home page: https://www.kinovarobotics.com
Google Protocol Buffers home page: https://developers.google.com/protocol-buffers
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