intrinsic.joint_jogging

Generates and executes an open-loop joint move with the commanded joint velocities. The action starts with zero joint velocities at the current joint position and subsequently executes the joint velocities commanded by non-realtime streaming commands. The velocity setpoints are achieved in time-optimal fashion w.r.t. currently configured joint acceleration and jerk limits. Movement is stopped if no streaming command is received within kWatchdogTimeoutInSeconds of the most recent streaming command. If a speed override multiplier is set, it will be used to scale the commanded target joint velocity. You are required to set appropriate joint velocity limits using FixedParams.

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

Fixed Parameters

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

Streaming Inputs

joint_jogging_command

Streaming joint velocities. 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 zero velocities) is triggered.