Handling#

All actions#

Name

Description

pause

Pause/Resume the script execution.

start

Start executing the script.

stop

Stop executing the script.

All parameters#

Name

Description

Expected type

current_step_index

The index of the current step (read-only). The first being zero.

integer

force_d_gain

The derivative gain of the PID for the forces.

floating-point number

force_p_gain

The proportional gain of the PID for the forces.

floating-point number

invalid_step_index

A value of -1 indicates that the execution was successful, otherwise the value corresponds to the index of the step that failed a test (read-only).

integer

loop

If true, the script will be repeated in a loop.

boolean

script

The script as a series of steps in JSON format.

string

torque_d_gain

The derivative gain of the PID for the torques.

floating-point number

torque_p_gain

The proportional gain of the PID for the torques.

floating-point number