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 -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