Merge release 2.3 to master (#66)

* Update C++ part * Update Python part * Update documentation, add modbus
Kinovarobotics · Jun 4, 2021 · f2601e0 · f2601e0
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diff --git a/api_cpp/doc/markdown/enums/ActuatorConfig/ControlLoopSelection.md b/api_cpp/doc/markdown/enums/ActuatorConfig/ControlLoopSelection.md
@@ -13,6 +13,7 @@ Enumeration ControlLoopSelection
 |MOTOR\_VELOCITY|8|0x8 - Motor velocity control|
 |JOINT\_TORQUE|16|0x10 - Joint torque control|
 |MOTOR\_CURRENT|32|0x20 - Motor current control|
+|JOINT\_TORQUE\_HIGH\_VELOCITY|64|0x30 - High velocity joint torque control|
 
 **Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md)
 
diff --git a/api_cpp/doc/markdown/enums/ActuatorConfig/ControlMode.md b/api_cpp/doc/markdown/enums/ActuatorConfig/ControlMode.md
@@ -12,6 +12,7 @@ Enumeration ControlMode
 |TORQUE|3|Torque mode|
 |CURRENT|4|Current mode|
 |CUSTOM|5|Custom mode|
+|TORQUE\_HIGH\_VELOCITY|6|High velocity torque mode|
 
 **Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md)
 
diff --git a/api_cpp/doc/markdown/enums/Api/SubErrorCodes.md b/api_cpp/doc/markdown/enums/Api/SubErrorCodes.md
@@ -103,6 +103,9 @@ Enumeration SubErrorCodes
 |READ\_PERMISSION\_DENIED|136|Attempting read command on unreadable entity|
 |CONTROLLER\_INVALID\_MAPPING|137|Attempting to assign an unsuited mapping to controller|
 |ACTION\_IN\_USE|138|Attempting to delete an Action used by another entity|
+|SEND\_FAILED|139|An error occured when trying to send the message \(Transport error\)|
+|CONTROL\_WAYPOINT\_TRAJECTORY\_ABORTED|140|Waypoint trajectory sequence aborted by kontrol library|
+|CONTROL\_PERMISSION\_DENIED|141|Permission to execute a routine from the kontrol interface denied|
 
 **Parent topic:** [Api \(C++\)](../../summary_pages/Api.md)
 
diff --git a/api_cpp/doc/markdown/enums/Base/ActionEvent.md b/api_cpp/doc/markdown/enums/Base/ActionEvent.md
@@ -17,6 +17,7 @@ Enumeration ActionEvent
 |ACTION\_POSTPROCESS\_START|8|Action post-process started|
 |ACTION\_POSTPROCESS\_ABORT|9|Action post-process aborted|
 |ACTION\_POSTPROCESS\_END|10|Action post-process ended|
+|ACTION\_FEEDBACK|11|Action feedback received|
 
 **Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
 
diff --git a/api_cpp/doc/markdown/enums/Base/ActionType.md b/api_cpp/doc/markdown/enums/Base/ActionType.md
@@ -25,8 +25,11 @@ Enumeration ActionType
 |TIME\_DELAY|31|Apply a delay|
 |EXECUTE\_ACTION|32|Execute an existing action|
 |SEND\_GRIPPER\_COMMAND|33|Send a gripper command|
+|SEND\_GPIO\_COMMAND|34|Send a gpio command \(not implemented yet\)|
 |STOP\_ACTION|35|Stop robot movement|
 |PLAY\_PRE\_COMPUTED\_TRAJECTORY|39|Play a pre-computed trajectory|
+|EXECUTE\_SEQUENCE|40|Execute an existing sequence|
+|EXECUTE\_WAYPOINT\_LIST|41|Execute a trajectory defined by a series of waypoints|
 
 **Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
 
diff --git a/api_cpp/doc/markdown/enums/Base/ControllerType.md b/api_cpp/doc/markdown/enums/Base/ControllerType.md
@@ -10,7 +10,8 @@ Enumeration ControllerType
 |XBOX\_CONTROLLER|1|Xbox gamepad|
 |WRIST\_CONTROLLER|2|Wrist buttons|
 |BASIC\_JOYSTICK\_CONTROLLER|3|Simplified joystick connected to Kinova robot base|
-|BASE\_GPIO\_CONTROLLER|4|GPIO Controller \(not implemented yet\)|
+|BASE\_GPIO\_CONTROLLER|4|GPIO Controller|
+|GPIO\_JOYSTICK|5|TEMP, will be deleted|
 
 **Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
 
diff --git a/api_cpp/doc/markdown/enums/Base/GpioAction.md b/api_cpp/doc/markdown/enums/Base/GpioAction.md
@@ -0,0 +1,16 @@
+# enum GpioAction
+
+## Overview / Purpose
+
+Enumeration GpioAction
+
+|Enumerator|Value|Description|
+|----------|-----|-----------|
+|UNSPECIFIED\_GPIO\_ACTION|0|Unspecified gpio action|
+|GPIOACTION\_SET|1|Set GPIO output|
+|GPIOACTION\_CLEAR|2|Clear GPIO output|
+|GPIOACTION\_PULSE\_HIGH|3|Pulse high GPIO output with specified period|
+|GPIOACTION\_PULSE\_LOW|4|Pulse low GPIO output with specified period|
+
+**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
+
diff --git a/api_cpp/doc/markdown/enums/Base/GpioBehavior.md b/api_cpp/doc/markdown/enums/Base/GpioBehavior.md
@@ -11,6 +11,7 @@ Enumeration GpioBehavior
 |GPIO\_RISING|2|Rising edge|
 |GPIO\_PULSE\_LOW|3|Sequence of HIGH - LOW - HIGH|
 |GPIO\_PULSE\_HIGH|4|Sequence of LOW - HIGH - LOW|
+|GPIO\_ANALOG\_CHANGE|5|Analog input value change|
 
 **Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
 
diff --git a/api_cpp/doc/markdown/enums/Base/GpioPinPropertyFlags.md b/api_cpp/doc/markdown/enums/Base/GpioPinPropertyFlags.md
@@ -0,0 +1,15 @@
+# enum GpioPinPropertyFlags
+
+## Overview / Purpose
+
+Enumeration GpioPinPropertyFlags
+
+|Enumerator|Value|Description|
+|----------|-----|-----------|
+|GPIOPROPERTY\_UNKNOWN|0| |
+|GPIOPROPERTY\_INPUT|1|0x1 : Pin can be used as digital input|
+|GPIOPROPERTY\_OUTPUT|2|0x2 : Pin can be used as digital output|
+|GPIOPROPERTY\_ANALOG|4|0x4 : Pin can be used as analog input|
+
+**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
+
diff --git a/api_cpp/doc/markdown/enums/Base/NetworkType.md b/api_cpp/doc/markdown/enums/Base/NetworkType.md
@@ -10,7 +10,7 @@ Enumeration NetworkType
 |WIFI|1|Wi-Fi network|
 |WIRED\_ETHERNET|2|Wired Ethernet network|
 |WIRED\_MICROUSB|3|Wired Ethernet over USB network \(RNDIS\)|
-|WIRED\_USB|4|Wired Ethernet over USB network|
+|WIRED\_USB|4|This enum value is deprecated and will be removed in a future release.|
 
 **Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
 
diff --git a/api_cpp/doc/markdown/enums/Base/TrajectoryErrorIdentifier.md b/api_cpp/doc/markdown/enums/Base/TrajectoryErrorIdentifier.md
@@ -6,12 +6,12 @@ Enumeration TrajectoryErrorIdentifier
 
 |Enumerator|Value|Description|
 |----------|-----|-----------|
-|TRAJECTORY\_ERROR\_IDENTIFIER\_UNSPECIFIED|0|Unspecified error identifier|
-|TRAJECTORY\_ERROR\_IDENTIFIER\_UNAPPLICABLE|1|No identifier required for this error|
-|TRAJECTORY\_ERROR\_IDENTIFIER\_TIME|2|Time validation failed|
-|TRAJECTORY\_ERROR\_IDENTIFIER\_POSITION|3|Position validation failed|
-|TRAJECTORY\_ERROR\_IDENTIFIER\_VELOCITY|4|Velocity validation failed|
-|TRAJECTORY\_ERROR\_IDENTIFIER\_ACCELERATION|5|Acceleration validation failed|
+|TRAJECTORY\_ERROR\_IDENTIFIER\_UNSPECIFIED|0|Unspecified error identifier. This enum is deprecated.|
+|TRAJECTORY\_ERROR\_IDENTIFIER\_UNAPPLICABLE|1|No identifier required for this error. This enum is deprecated.|
+|TRAJECTORY\_ERROR\_IDENTIFIER\_TIME|2|Time validation failed. This enum is deprecated.|
+|TRAJECTORY\_ERROR\_IDENTIFIER\_POSITION|3|Position validation failed. This enum is deprecated.|
+|TRAJECTORY\_ERROR\_IDENTIFIER\_VELOCITY|4|Velocity validation failed. This enum is deprecated.|
+|TRAJECTORY\_ERROR\_IDENTIFIER\_ACCELERATION|5|Acceleration validation failed. This enum is deprecated.|
 
 **Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
 
diff --git a/api_cpp/doc/markdown/enums/Base/TrajectoryErrorType.md b/api_cpp/doc/markdown/enums/Base/TrajectoryErrorType.md
@@ -7,25 +7,42 @@ Enumeration TrajectoryErrorType
 |Enumerator|Value|Description|
 |----------|-----|-----------|
 |TRAJECTORY\_ERROR\_TYPE\_UNSPECIFIED|0|Unspecified error type|
-|TRAJECTORY\_ERROR\_TYPE\_OUTSIDE\_WORKSPACE|1|The trajectory point is outside robot workspace|
-|TRAJECTORY\_ERROR\_TYPE\_ACTUATOR\_COUNT\_MISMATCH|2|There is an actuator count mismatch with the robot|
-|TRAJECTORY\_ERROR\_TYPE\_INVALID\_DURATION|3|The trajectory has an invalid duration|
-|TRAJECTORY\_ERROR\_TYPE\_ZERO\_DISTANCE|4|The trajectory does not move the robot because the delta is either zero or too small|
-|TRAJECTORY\_ERROR\_TYPE\_INVALID\_SPEED|5|The speed for a trajectory point for an actuator is invalid|
-|TRAJECTORY\_ERROR\_TYPE\_LARGE\_SPEED|6|The speed for a trajectory point for an actuator exceeds its limit|
-|TRAJECTORY\_ERROR\_TYPE\_INVALID\_ACCELERATION|7|The acceleration for a trajectory point for an actuator is invalid|
-|TRAJECTORY\_ERROR\_TYPE\_INVALID\_TIME\_STEP|8|The time step for a trajectory point is invalid|
-|TRAJECTORY\_ERROR\_TYPE\_LARGE\_SIZE|9|The trajectory is too large|
-|TRAJECTORY\_ERROR\_TYPE\_WRONG\_MODE|10|The robot is not currently in Trajectory Control mode|
-|TRAJECTORY\_ERROR\_TYPE\_JOINT\_POSITION\_LIMIT|11|The position limit for a trajectory point for an actuator is exceeded|
-|TRAJECTORY\_ERROR\_TYPE\_FILE\_ERROR|12|An internal file error was encountered|
-|TRAJECTORY\_ERROR\_TYPE\_NO\_FILE\_IN\_MEMORY|13|An internal file memory error was encountered|
-|TRAJECTORY\_ERROR\_TYPE\_INDEX\_OUT\_OF\_TRAJ|14|The index for a trajectory point is invalid|
-|TRAJECTORY\_ERROR\_TYPE\_ALREADY\_RUNNING|15|A trajectory is already running|
-|TRAJECTORY\_ERROR\_TYPE\_WRONG\_STARTING\_POINT|16|The difference between the trajectory's starting point and the current position is too large|
-|TRAJECTORY\_ERROR\_TYPE\_CARTESIAN\_CANNOT\_START|17|The cartesian trajectory is not able to start|
-|TRAJECTORY\_ERROR\_TYPE\_WRONG\_STARTING\_SPEED|18|The difference between the trajectory's starting speed and the current speed is too large|
-|TRAJECTORY\_ERROR\_TYPE\_INVALID\_POSITION|19|The position for a trajectory point for an actuator is invalid|
+|TRAJECTORY\_ERROR\_TYPE\_OUTSIDE\_WORKSPACE|1|The desired pose is outside robot workspace|
+|TRAJECTORY\_ERROR\_TYPE\_ACTUATOR\_COUNT\_MISMATCH|2|The provided number of joint values does not match robot's number of actuators|
+|TRAJECTORY\_ERROR\_TYPE\_INVALID\_DURATION|3|The duration exceeds a limit or is invalid|
+|TRAJECTORY\_ERROR\_TYPE\_JOINT\_NO\_MOTION|4|The robot's actuators are already at the targeted configuration|
+|TRAJECTORY\_ERROR\_TYPE\_ZERO\_DISTANCE|4|This enum value is deprecated and will be removed in a future release.|
+|TRAJECTORY\_ERROR\_TYPE\_INVALID\_JOINT\_SPEED|5|The joint speed exceeds a limit, initial speed does not match current robot speed or is invalid|
+|TRAJECTORY\_ERROR\_TYPE\_INVALID\_SPEED|5|This enum value is deprecated and will be removed in a future release.|
+|TRAJECTORY\_ERROR\_TYPE\_LARGE\_SPEED|6|This enum value is deprecated and will be removed in a future release.|
+|TRAJECTORY\_ERROR\_TYPE\_INVALID\_JOINT\_ACCELERATION|7|The joint acceleration exceeds a limit or is invalid|
+|TRAJECTORY\_ERROR\_TYPE\_INVALID\_ACCELERATION|7|This enum value is deprecated and will be removed in a future release.|
+|TRAJECTORY\_ERROR\_TYPE\_INVALID\_TIME\_STEP|8|The time step does not match robot time step or is invalid|
+|TRAJECTORY\_ERROR\_TYPE\_INVALID\_TRAJECTORY\_SIZE|9|The trajectory size is outside the limits or is invalid|
+|TRAJECTORY\_ERROR\_TYPE\_LARGE\_SIZE|9|This enum value is deprecated and will be removed in a future release.|
+|TRAJECTORY\_ERROR\_TYPE\_WRONG\_MODE|10|This enum value is deprecated and will be removed in a future release.|
+|TRAJECTORY\_ERROR\_TYPE\_INVALID\_JOINT\_POSITION|11|The joint position exceeds a limit, initial joint position does not match current robot joint position or is invalid|
+|TRAJECTORY\_ERROR\_TYPE\_JOINT\_POSITION\_LIMIT|11|This enum value is deprecated and will be removed in a future release.|
+|TRAJECTORY\_ERROR\_TYPE\_FILE\_ERROR|12|This enum value is deprecated and will be removed in a future release.|
+|TRAJECTORY\_ERROR\_TYPE\_NO\_FILE\_IN\_MEMORY|13|This enum value is deprecated and will be removed in a future release.|
+|TRAJECTORY\_ERROR\_TYPE\_INDEX\_OUT\_OF\_TRAJ|14|This enum value is deprecated and will be removed in a future release.|
+|TRAJECTORY\_ERROR\_TYPE\_TRAJECTORY\_ALREADY\_RUNNING|15|The new trajectory cannot start because another trajectory is being played|
+|TRAJECTORY\_ERROR\_TYPE\_ALREADY\_RUNNING|15|This enum value is deprecated and will be removed in a future release.|
+|TRAJECTORY\_ERROR\_TYPE\_WRONG\_STARTING\_POINT|16|This enum value is deprecated and will be removed in a future release.|
+|TRAJECTORY\_ERROR\_TYPE\_CARTESIAN\_CANNOT\_START|17|This enum value is deprecated and will be removed in a future release.|
+|TRAJECTORY\_ERROR\_TYPE\_WRONG\_STARTING\_SPEED|18|This enum value is deprecated and will be removed in a future release.|
+|TRAJECTORY\_ERROR\_TYPE\_INVALID\_POSITION|19|This enum value is deprecated and will be removed in a future release.|
+|TRAJECTORY\_ERROR\_TYPE\_INVALID\_CARTESIAN\_POSITION|20|The cartesian position exceeds a limit, initial pose does not match current robot pose or is invalid|
+|TRAJECTORY\_ERROR\_TYPE\_INVALID\_CARTESIAN\_ORIENTATION|21|The cartesian orientation exceeds a limit, initial orientation does not match current robot orientation or is invalid|
+|TRAJECTORY\_ERROR\_TYPE\_INVALID\_CARTESIAN\_LINEAR\_VELOCITY|22|The cartesian linear velocity exceeds a limit or is invalid|
+|TRAJECTORY\_ERROR\_TYPE\_INVALID\_CARTESIAN\_ANGULAR\_VELOCITY|23|The cartesian angular velocity exceeds a limit or is invalid|
+|TRAJECTORY\_ERROR\_TYPE\_INVALID\_JOINT\_TORQUE|24|The joint torque exceeds a limit or is invalid|
+|TRAJECTORY\_ERROR\_TYPE\_MULTIPLE\_WAYPOINT\_TYPE\_LIST|25|The waypoints in a trajectory must be all of the same type \(cartesian or angular\)|
+|TRAJECTORY\_ERROR\_TYPE\_INITIAL\_WAYPOINT\_NO\_STOP|26|The first waypoint must not have blending \(currently unused\)|
+|TRAJECTORY\_ERROR\_TYPE\_FINAL\_WAYPOINT\_NO\_STOP|27|The last waypoint must not have blending|
+|TRAJECTORY\_ERROR\_TYPE\_INVALID\_BLENDING\_RADIUS|28|The blending radius must be positive and not overlap other blendings or waypoint or is invalid|
+|TRAJECTORY\_ERROR\_TYPE\_INVALID\_REFERENCE\_FRAME|29|The reference frame is invalid or not supported|
+|TRAJECTORY\_ERROR\_TYPE\_NUMERICAL\_ERROR\_IMPOSSIBLE\_TRAJECTORY|30|The conditions \(points, velocities\) of the trajectory lead to numerical errors that make the computation impossible|
 
 **Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
 
diff --git a/api_cpp/doc/markdown/enums/Base/TrajectoryInfoType.md b/api_cpp/doc/markdown/enums/Base/TrajectoryInfoType.md
@@ -0,0 +1,25 @@
+# enum TrajectoryInfoType
+
+## Overview / Purpose
+
+Enumeration TrajectoryInfoType
+
+|Enumerator|Value|Description|
+|----------|-----|-----------|
+|UNSPECIFIED\_TRAJECTORY\_INFORMATION|0|No information provided|
+|JOINT\_ACCELERATION\_LIMIT\_REACHED|1|Joint acceleration limit reached|
+|JOINT\_SPEED\_LIMIT\_REACHED|2|Joint speed limit reached|
+|JOINT\_POSITION\_LIMIT\_REACHED|3|Joint position limit reached|
+|JOINT\_TORQUE\_LIMIT\_REACHED|4|Joint torque limit reached|
+|SINGULARITY\_REGION|5|The arm is inside a singularity region|
+|INVERSE\_KINEMATIC\_FAILED|6|The inverse kinematic calculation has failed|
+|CARTESIAN\_ACCELERATION\_LIMIT\_REACHED|7|Cartesian acceleration limit reached|
+|CARTESIAN\_SPEED\_LIMIT\_REACHED|8|Cartesian speed limit reached|
+|CARTESIAN\_POSITION\_LIMIT\_REACHED|9|Cartesian position limit reached|
+|CARTESIAN\_WRENCH\_LIMIT\_REACHED|10|Cartesian torque limit reached|
+|ENTERING\_PROTECTION\_ZONE|11|The arm is entering a protection zone|
+|WAYPOINT\_REACHED|12|Waypoint reached|
+|TRAJECTORY\_OK|13|There is more trajectory notification|
+
+**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
+
diff --git a/api_cpp/doc/markdown/enums/ControlConfig/ControlMode.md b/api_cpp/doc/markdown/enums/ControlConfig/ControlMode.md
@@ -16,6 +16,7 @@ Enumeration ControlMode
 |NULL\_SPACE\_ADMITTANCE|8|Null space mode|
 |FORCE\_CONTROL|10|Force control mode|
 |FORCE\_CONTROL\_MOTION\_RESTRICTED|11|Force control motion restricted mode|
+|CARTESIAN\_WAYPOINT\_TRAJECTORY|12|Cartesian waypoint trajectory mode|
 |IDLE|13|Idle|
 
 **Parent topic:** [ControlConfig \(C++\)](../../summary_pages/ControlConfig.md)

diff --git a/api_cpp/doc/markdown/index.md b/api_cpp/doc/markdown/index.md
@@ -49,6 +49,7 @@
     -   [class ActuatorInformation](messages/Base/ActuatorInformation.md)
     -   [class Admittance](messages/Base/Admittance.md)
     -   [class AdvancedSequenceHandle](messages/Base/AdvancedSequenceHandle.md)
+    -   [class AngularWaypoint](messages/Base/AngularWaypoint.md)
     -   [class AppendActionInformation](messages/Base/AppendActionInformation.md)
     -   [class ArmStateInformation](messages/Base/ArmStateInformation.md)
     -   [class ArmStateNotification](messages/Base/ArmStateNotification.md)
@@ -62,6 +63,7 @@
     -   [class CartesianLimitationList](messages/Base/CartesianLimitationList.md)
     -   [class CartesianSpeed](messages/Base/CartesianSpeed.md)
     -   [class CartesianTrajectoryConstraint](messages/Base/CartesianTrajectoryConstraint.md)
+    -   [class CartesianWaypoint](messages/Base/CartesianWaypoint.md)
     -   [class ChangeJointSpeeds](messages/Base/ChangeJointSpeeds.md)
     -   [class ChangeTwist](messages/Base/ChangeTwist.md)
     -   [class ChangeWrench](messages/Base/ChangeWrench.md)
@@ -96,10 +98,15 @@
     -   [class FirmwareComponentVersion](messages/Base/FirmwareComponentVersion.md)
     -   [class FullIPv4Configuration](messages/Base/FullIPv4Configuration.md)
     -   [class FullUserProfile](messages/Base/FullUserProfile.md)
+    -   [class GpioCommand](messages/Base/GpioCommand.md)
+    -   [class GpioConfiguration](messages/Base/GpioConfiguration.md)
+    -   [class GpioConfigurationList](messages/Base/GpioConfigurationList.md)
     -   [class GpioEvent](messages/Base/GpioEvent.md)
+    -   [class GpioPinConfiguration](messages/Base/GpioPinConfiguration.md)
     -   [class Gripper](messages/Base/Gripper.md)
     -   [class GripperCommand](messages/Base/GripperCommand.md)
     -   [class GripperRequest](messages/Base/GripperRequest.md)
+    -   [class IKData](messages/Base/IKData.md)
     -   [class IPv4Configuration](messages/Base/IPv4Configuration.md)
     -   [class IPv4Information](messages/Base/IPv4Information.md)
     -   [class JointAngle](messages/Base/JointAngle.md)
@@ -111,6 +118,7 @@
     -   [class JointTorques](messages/Base/JointTorques.md)
     -   [class JointTrajectoryConstraint](messages/Base/JointTrajectoryConstraint.md)
     -   [class JointsLimitationsList](messages/Base/JointsLimitationsList.md)
+    -   [class KinematicTrajectoryConstraints](messages/Base/KinematicTrajectoryConstraints.md)
     -   [class Map](messages/Base/Map.md)
     -   [class MapElement](messages/Base/MapElement.md)
     -   [class MapEvent](messages/Base/MapEvent.md)
@@ -175,6 +183,7 @@
     -   [class Timeout](messages/Base/Timeout.md)
     -   [class TrajectoryErrorElement](messages/Base/TrajectoryErrorElement.md)
     -   [class TrajectoryErrorReport](messages/Base/TrajectoryErrorReport.md)
+    -   [class TrajectoryInfo](messages/Base/TrajectoryInfo.md)
     -   [class TransformationMatrix](messages/Base/TransformationMatrix.md)
     -   [class TransformationRow](messages/Base/TransformationRow.md)
     -   [class Twist](messages/Base/Twist.md)
@@ -185,6 +194,9 @@
     -   [class UserNotificationList](messages/Base/UserNotificationList.md)
     -   [class UserProfile](messages/Base/UserProfile.md)
     -   [class UserProfileList](messages/Base/UserProfileList.md)
+    -   [class Waypoint](messages/Base/Waypoint.md)
+    -   [class WaypointList](messages/Base/WaypointList.md)
+    -   [class WaypointValidationReport](messages/Base/WaypointValidationReport.md)
     -   [class WifiConfiguration](messages/Base/WifiConfiguration.md)
     -   [class WifiConfigurationList](messages/Base/WifiConfigurationList.md)
     -   [class WifiInformation](messages/Base/WifiInformation.md)
@@ -210,7 +222,9 @@
     -   [enum EventIdSequenceInfoNotification](enums/Base/EventIdSequenceInfoNotification.md)
     -   [enum FactoryEvent](enums/Base/FactoryEvent.md)
     -   [enum Gen3GpioPinId](enums/Base/Gen3GpioPinId.md)
+    -   [enum GpioAction](enums/Base/GpioAction.md)
     -   [enum GpioBehavior](enums/Base/GpioBehavior.md)
+    -   [enum GpioPinPropertyFlags](enums/Base/GpioPinPropertyFlags.md)
     -   [enum GripperMode](enums/Base/GripperMode.md)
     -   [enum JointNavigationDirection](enums/Base/JointNavigationDirection.md)
     -   [enum JointTrajectoryConstraintType](enums/Base/JointTrajectoryConstraintType.md)
@@ -232,6 +246,7 @@
     -   [enum TrajectoryContinuityMode](enums/Base/TrajectoryContinuityMode.md)
     -   [enum TrajectoryErrorIdentifier](enums/Base/TrajectoryErrorIdentifier.md)
     -   [enum TrajectoryErrorType](enums/Base/TrajectoryErrorType.md)
+    -   [enum TrajectoryInfoType](enums/Base/TrajectoryInfoType.md)
     -   [enum UserEvent](enums/Base/UserEvent.md)
     -   [enum WifiEncryptionType](enums/Base/WifiEncryptionType.md)
     -   [enum WifiSecurityType](enums/Base/WifiSecurityType.md)
@@ -279,6 +294,7 @@
     -   [class CartesianTransform](messages/ControlConfig/CartesianTransform.md)
     -   [class ControlConfigurationNotification](messages/ControlConfig/ControlConfigurationNotification.md)
     -   [class ControlModeInformation](messages/ControlConfig/ControlModeInformation.md)
+    -   [class ControlModeNotification](messages/ControlConfig/ControlModeNotification.md)
     -   [class DesiredSpeeds](messages/ControlConfig/DesiredSpeeds.md)
     -   [class GravityVector](messages/ControlConfig/GravityVector.md)
     -   [class JointAccelerationSoftLimits](messages/ControlConfig/JointAccelerationSoftLimits.md)

diff --git a/api_cpp/doc/markdown/messages/ActuatorConfig/AxisOffsets.md b/api_cpp/doc/markdown/messages/ActuatorConfig/AxisOffsets.md
@@ -4,8 +4,8 @@
 
 |Member name|Data type|Description|
 |-----------|---------|-----------|
-|absolute\_offset|float32|Absolute offset value \(meters\)|
-|relative\_offset|float32|Relative offset value \(meters\)|
+|absolute\_offset|float32|Absolute offset value \(degrees\)|
+|relative\_offset|float32|Relative offset value \(degrees\)|
 
  **Member functions** 
 

diff --git a/api_cpp/doc/markdown/messages/ActuatorConfig/AxisPosition.md b/api_cpp/doc/markdown/messages/ActuatorConfig/AxisPosition.md
@@ -4,7 +4,7 @@
 
 |Member name|Data type|Description|
 |-----------|---------|-----------|
-|position|float32|Axis position \(meters\)|
+|position|float32|Axis position \(degrees\)|
 
  **Member functions**