def speed_gradual_max(self, t=5.0):
        '''Parameter t is the total time required for arms velocity to gradually increase to its maximum value, in seconds. The default is 5.0.'''
        self._gradual_start_time = time.time()
        self._gradual_time = t
        self._speed_gradual_max = True
Parameter t is the total time required for arms velocity to gradually increase to its maximum value, in seconds. The default is 5.0.
deploy/teleop/robot_control/robot_arm.py