Planning

---

Set Autonomous Goals

• Description: Define a new list of autonomous goals for the robot.

• Args:

  • goals (list[dict[str, Any]]): A list of goal specifications.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "set_autonomous_goals",
      "goals": goals
    }
  }
  

Get Autonomous Goals

• Description: Retrieve the currently configured autonomous goals.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "get_autonomous_goals"
    }
  }
  

Set User Goal Definitions

• Description: Define user-specific goal templates.

• Args:

  • definitions (dict[str, list[dict[str, dict]]]): Mappings of goal names to

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "set_user_goal_definitions",
      "definitions": definitions
    }
  }
  

Get User Goal Definitions

• Description: Retrieve user-defined goal templates.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "get_user_goal_definitions"
    }
  }
  

Get System Goal Definitions

• Description: Retrieve system-level predefined goal templates.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "get_system_goal_definitions"
    }
  }
  

Apply Pddl Effect

• Description: Apply a PDDL effect string to update the robot's internal world state.

• Args:

  • pddl_effect (str): A valid PDDL effect statement.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "apply_pddl_effect",
      "pddl_effect": pddl_effect
    }
  }