Handling#
All actions#
Name |
Description |
---|---|
pause |
Pause/Resume the script execution. |
soft_stop |
Stop executing the script and keep current velocities. |
start |
Start executing the script. |
stop |
Stop executing the script and reset velocities. |
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 |
integer |
loop |
If |
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 |