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Data Streamed by the Robot:

The robot streams the following data:

current_focus

  • Description: Vision's focus priority.
  • Type of Argument: String
  • Frequency: 5Hz

head_mode

  • Description: Current neck mode.
  • Type of Argument: enchanted.vokarina.pyvokarina.NeckMode
  • Frequency: 5Hz
  • Description: Current navigation state.
  • Type of Argument: enchanted.vokarina.pyvokarina.NavigationState
  • Frequency: 5Hz

left_hand_state

  • Description: Left hand state (open, closed).
  • Type of Argument: enchanted.vokarina.pyvokarina.HandStatus
  • Frequency: 5Hz

right_hand_state

  • Description: Right hand state (open, closed).
  • Type of Argument: enchanted.vokarina.pyvokarina.HandStatus
  • Frequency: 5Hz

tofs_faulty_state

  • Description: State of Time-of-Flight sensors indicating if any are faulty.
  • Type of Argument: Bool
  • Frequency: 5Hz

is_balancing

  • Description: True if the robot has balancing enabled.
  • Type of Argument: Bool
  • Frequency: 1Hz

runes

  • Description: All detected runes indexed by hardware ID, their virtual ID, whether they are clicked, double-clicked, or long-pressed, their label, type, angle of arrival, and RSSI.
  • Type of Argument: Dict
  • Frequency: 10Hz

max_velocity

  • Description: Current maximum velocity.
  • Type of Argument: Float
  • Frequency: 5Hz

grasp_auto_choice

  • Description: True if the robot chooses the arm to grasp autonomously; False otherwise.
  • Type of Argument: Bool
  • Frequency: 5Hz

grasp_side

  • Description: The arm set to grasp, represented as {name: "ARM_RIGHT", value: 1} or {name: "ARM_LEFT", value: 0}.
  • Type of Argument: Dict
  • Frequency: 5Hz

arms_collision

  • Description: Indicates whether the robot's arms are in a collision state.
  • Type of Argument: Bool
  • Frequency: 5Hz

rules

  • Description: Rules dictionary used by the mission system.
  • Type of Argument: Dict
  • Frequency: On Demand

semantic_memory

  • Description: Information from the robot's semantic memory.
  • Type of Argument: List
  • Frequency: 5Hz

entities

  • Description: A list of all entities stored in the robot's beliefs.
  • Type of Argument: List[String]
  • Frequency: On Demand

llm_enabled

  • Description: True if the robot is using a Language Learning Model (LLM); False otherwise.
  • Type of Argument: Bool
  • Frequency: 5Hz

noisy_mode

  • Description: True if using the robot in a noisy environment and pitch should be adjusted earlier with volume increase.
  • Type of Argument: Bool
  • Frequency: 5Hz

tempo

  • Description: The current tempo of the TTS.
  • Type of Argument: String
  • Frequency: 5Hz

tempo_range

  • Description: The maximum and minimum tempo for the TTS.
  • Type of Argument: Dict
  • Frequency: 5Hz

is_voice_trigger_activated

  • Description: Indicates whether voice trigger for movement activation is enabled.
  • Type of Argument: Bool
  • Frequency: 5Hz

runes_by_id

  • Description: All detected runes indexed by virtual ID, their hardware ID, whether they are clicked, double-clicked, or long-pressed, their label, type, angle of arrival, and RSSI.
  • Type of Argument: Dict
  • Frequency: 5Hz

get_interaction_parameters

  • Description: Parameters used for interaction
  • Example: 
     {
     sound_level_input: 1,
     sound_on: "true",
     sound_level_current: 0.6,
     expression: "emotion_neutral",
     expression_intensity: 0.5,
     reaction_intensity: 0.5,
     reaction_duration: "0:00:02",
     voice_emotion: "neutral"
 }
  • Type of Argument: Dict
  • Frequency: 5Hz ​

current_animation_states

  • Description: Get current interaction states (expressive state, interactive state and current posture).
  • Example: 
     {
     'current_expressive': {
         'name': 'neutral',
         'intensity': 1.0
     },
     'current_interactive': {
         'name': 'idle',
         'intensity': 1.0
     },
     'current_posture': {
         'name': 'dab',
         'intensity': 1.0
     }
 }
  • Type of Argument: Dict
  • Frequency: 5Hz

bms_dict

  • Description: Get current BMS values.
  • Example: 
        {
        'battery_voltage': 25.2,                    # Battery voltage in volts
        'state_of_charge': 75.5,                    # State of charge in percentage (0-100)
        'secure_state_of_charge': 72.0,             # Conservative state of charge estimation
        'remaining_cap': 2500,                       # Remaining capacity in mAh
        'full_charge_cap': 3300,                     # Full charge capacity in mAh
        'avg_current': -450,                         # Average current in mA (negative = discharging)
        'temperature': 28.5,                         # Battery temperature in °C
        'flags': 0,                                  # BMS status flags
        'cycle_count': 42,                           # Number of charge cycles
        'state_of_health': 95.2,                     # Battery health percentage
        'avg_power': -11.34,                         # Average power in watts
        'battery_is_charging': False,                # Whether battery is currently charging
        'plugged': False,                            # Whether charger is plugged in
        'time_to_empty': {                           # Estimated time until battery empty
            'days': 0,
            'seconds': 3600,                         # 1 hour in this example
            'microseconds': 0
        },
        'secure_time_to_empty': {                   # Conservative time estimate until empty
            'days': 0,
            'seconds': 3240,                         # 54 minutes in this example
            'microseconds': 0
        },
        'time_to_full': none
    }
  • Type of Argument: Dict
  • Frequency: 5Hz