class Action

Member values

Member name	Data type	Description	Usage
handle	ActionHandle	Reference to the action (useful when updating an existing action)	To set handle, you simply assign a value directly to a field within handle. You can also use the parent message's HasField() method to check if a message type field value has been set.
name	str	Action friendly name	You can manipulate the field name as if it were a regular field. To clear the value of name and reset it to the default value for its type, you call the ClearField() method of the Message interface.
application_data	str	Application data (reserved for use by Web App)	You can manipulate the field application_data as if it were a regular field. To clear the value of application_data and reset it to the default value for its type, you call the ClearField() method of the Message interface.
send_twist_command	oneof:action_parameters TwistCommand	Control the tool in velocity	You can manipulate the field send_twist_command as if it were a regular field. To clear the value of send_twist_command and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
send_wrench_command	oneof:action_parameters WrenchCommand	Control the tool in force (EXPERIMENTAL)	You can manipulate the field send_wrench_command as if it were a regular field. To clear the value of send_wrench_command and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
send_joint_speeds	oneof:action_parameters JointSpeeds	Action to control each joint speed	You can manipulate the field send_joint_speeds as if it were a regular field. To clear the value of send_joint_speeds and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
reach_pose	oneof:action_parameters ConstrainedPose	Reach a pose given Cartesian constraints. This action will be deprecated in a future version and will be replaced by execute_waypoint_list.	You can manipulate the field reach_pose as if it were a regular field. To clear the value of reach_pose and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
reach_joint_angles	oneof:action_parameters ConstrainedJointAngles	Reach a series of joint angles given angular constraints. This action will be deprecated in a future version and will be replaced by execute_waypoint_list.	You can manipulate the field reach_joint_angles as if it were a regular field. To clear the value of reach_joint_angles and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
toggle_admittance_mode	oneof:action_parameters int	Enable or disable the admittance mode	You can manipulate the field toggle_admittance_mode as if it were a regular field. To clear the value of toggle_admittance_mode and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
snapshot	oneof:action_parameters Snapshot	Take a snapshot of current robot position	You can manipulate the field snapshot as if it were a regular field. To clear the value of snapshot and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
switch_control_mapping	oneof:action_parameters SwitchControlMapping	Switch the active controller map	You can manipulate the field switch_control_mapping as if it were a regular field. To clear the value of switch_control_mapping and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
navigate_joints	oneof:action_parameters int	Select the next actuator to control in a map	You can manipulate the field navigate_joints as if it were a regular field. To clear the value of navigate_joints and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
navigate_mappings	oneof:action_parameters int	Select a different map	You can manipulate the field navigate_mappings as if it were a regular field. To clear the value of navigate_mappings and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
change_twist	oneof:action_parameters ChangeTwist	Change tool twist	You can manipulate the field change_twist as if it were a regular field. To clear the value of change_twist and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
change_joint_speeds	oneof:action_parameters ChangeJointSpeeds	Change the joint speeds individually	You can manipulate the field change_joint_speeds as if it were a regular field. To clear the value of change_joint_speeds and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
change_wrench	oneof:action_parameters ChangeWrench	Change the Cartesian force	You can manipulate the field change_wrench as if it were a regular field. To clear the value of change_wrench and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
apply_emergency_stop	oneof:action_parameters EmergencyStop	Apply robot emergency stop	You can manipulate the field apply_emergency_stop as if it were a regular field. To clear the value of apply_emergency_stop and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
clear_faults	oneof:action_parameters Faults	Clear faults. Robot will be able to move if there is no more fault (see BaseCyclic.BaseFeedback.[fault_bank_a	fault_bank_b])
delay	oneof:action_parameters Delay	Apply a delay	You can manipulate the field delay as if it were a regular field. To clear the value of delay and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
execute_action	oneof:action_parameters ActionHandle	Execute an existing action	You can manipulate the field execute_action as if it were a regular field. To clear the value of execute_action and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
send_gripper_command	oneof:action_parameters GripperCommand	Send a gripper command	You can manipulate the field send_gripper_command as if it were a regular field. To clear the value of send_gripper_command and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
send_gpio_command	oneof:action_parameters GpioCommand	Send a gpio command (not implemented yet)	You can manipulate the field send_gpio_command as if it were a regular field. To clear the value of send_gpio_command and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
stop_action	oneof:action_parameters Stop	Stop movement	You can manipulate the field stop_action as if it were a regular field. To clear the value of stop_action and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
play_pre_computed_trajectory	oneof:action_parameters PreComputedJointTrajectory	Play a pre-computed joint trajectory	You can manipulate the field play_pre_computed_trajectory as if it were a regular field. To clear the value of play_pre_computed_trajectory and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
execute_sequence	oneof:action_parameters SequenceHandle	Execute an existing sequence	You can manipulate the field execute_sequence as if it were a regular field. To clear the value of execute_sequence and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.
execute_waypoint_list	oneof:action_parameters WaypointList	Execute a trajectory defined by a series of waypoints	You can manipulate the field execute_waypoint_list as if it were a regular field. To clear the value of execute_waypoint_list and reset it to the default value for its type, you call the ClearField() method of the Message interface. The message class also has a WhichOneof method that lets you find out which field (if any) in the oneof has been set.

Parent topic: Base (Python)