intrinsic.stop

intrinsic.stop

Stops all motion of the part while respecting joint limits. Computes a time-optimal stopping trajectory with zero terminal velocity subject to maximum hardware acceleration and jerk limits. Use this for all applications that do not involve force control. For force control, the appropriate stop action is the xfa.force_stop_action. The stop motion is synchronized in joint space. Therefore, the resulting stop motion does not continue tracking previously commanded motions in a path-accurate way. The JointStopAction also holds a settling state estimator which monitors residual oscillations after the stop trajectory has been played back, see state variable documentation of the JointStopAction.

This action does not have fixed parameters, streaming inputs, streaming output or real-time signals.

State Variables

intrinsic.is_done (bool)

Builtin state variable that tells whether an action has completed

intrinsic.action_elapsed_time (double)

Builtin state variable that reports the amount of time since an action became active, in seconds

intrinsic.is_stopped (bool)

Builtin state variable that tells if an action has brought the robot to a stop

is_settled (bool)

This Action reports 'is_settled==true' as soon as residual oscillations and/or tracking errors have decayed and the robot has reached a settled state after the stop motion.