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intrinsic.cartesian_jogging

intrinsic.cartesian_jogging​

Generates and executes a Cartesian move with the given twist, using the default tracking and tool frames. The action starts with a zero twist at the current Cartesian pose and executes the twist commanded by non-realtime streaming commands. Movement is stopped if no streaming command is received within kWatchdogTimeoutInSeconds of the most recent streaming command. You are required to set appropriate cartesian velocity limits using FixedParams.

This action does not have streaming output or real-time signals.

Fixed Parameters​

Message Type: intrinsic_proto.icon.actions.proto.CartesianJoggingFixedParams

Streaming Inputs​

cartesian_jogging_command​

Streaming twist with optional IK parameters. The robot accelerates and decelerates according to the limits set in 'FixedParams'. Movement is stopped if no streaming command is received within 'kWatchdogTimeoutInSeconds' of the most recent streaming command.

State Variables​

intrinsic.timed_out (bool)​

Unavailable before the action receives a streaming command. Switches to False when a streaming command is received. True after the watchdog (commanding a Zero Twist) is triggered.