Prameters
Prameter Lists
| Parameter Name | Default Value | Min Value | Max Value | Unit |
|---|---|---|---|---|
power_command.timeout | 1.0 | 0.0 | 10.0 | sec |
servo_on_command.timeout | 15.0 | 0.0 | 30.0 | sec |
servo_on_command.new_data_timeout | 3.0 | 0.0 | 10.0 | sec |
control_threshold | 0 | 0 | 100 | |
idle_to_default_controller_time | 0.1 | 0.0 | 1e5 | sec |
default.velocity_limit_scaling | 1.0 | 0.01 | 1.5 | |
default.acceleration_limit_scaling | 1.0 | 0.01 | 1.5 | |
default.linear_acceleration_limit | 5.0 | 0.01 | 10.0 | |
default.angular_acceleration_limit | 1.0 | 0.01 | 5.0 | |
default.optimal_control_command.velocity_tracking_gain | 0.1 | 1e-5 | 1.0 | |
default.optimal_control_command.stop_cost | 1e-3 | 1e-6 | 1e9 | |
default.se2_velocity_command.acceleration_limit | 1.0 | 5.0 | 99.0 | |
jog_command.one_step_size | 0.087266463(5 deg) | 0.017453293(1 deg) | 0.17453293 (10 deg) | rad |
jog_command.canceling_time | 0.1 | 1e-3 | 10.0 | sec |
joint_position_command.cutoff_frequency | 15.0 | 1e-3 | 100.0 | Hz |
joint_position_command.canceling_time | 0.1 | 1e-3 | 1.0 | sec |
joint_position_command.torque_saturation_time | 0.1 | 1e-3 | 1.0 | sec |
cartesian_command.cutoff_frequency | 15.0 | 1e-3 | 100.0 | Hz |
cartesian_command.canceling_time | 0.1 | 1e-3 | 1.0 | sec |
cartesian_command.torque_saturation_time | 0.1 | 1e-3 | 1.0 | sec |
impedance_control_command.torque_saturation_time | 0.1 | 1e-3 | 1.0 | sec |
optimal_control_command.torque_saturation_time | 0.1 | 1e-3 | 1.0 | sec |
stop_command.canceling_time | 0.1 | 1e-3 | 1.0 | sec |
stop_command.torque_saturation_time | 0.1 | 1e-3 | 1.0 | sec |
joint_velocity_command.canceling_time | 0.1 | 1e-3 | 1.0 | sec |
joint_velocity_command.torque_saturation_time | 0.1 | 1e-3 | 1.0 | sec |
se2_velocity_command.canceling_time | 0.1 | 1e-3 | 1.0 | sec |
Example Usage in Python
python
# Set parameters using the dot notation, following the provided examples
robot.set_parameter("default.acceleration_limit_scaling", "0.8")
robot.set_parameter("joint_position_command.cutoff_frequency", "5")
robot.set_parameter("cartesian_command.cutoff_frequency", "5")
robot.set_parameter("default.linear_acceleration_limit", "5")