Animate

---

Animate Arms

• Description: Animate both of the robot's arms.

• Args:

  • anim_name (str): The name of the animation to play.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "animate_arms",
      "anim_name": anim_name
    }
  }
  

Animate Arm

• Description: Animate the robot's arm.

• Args:

  • anim_name (str): The name of the animation to play.
  • arm (Arm): The arm to animate.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "animate_arm",
      "anim_name": anim_name,
      "arm": value
    }
  }
  

Arms Down

• Description: Move the robot's arms down.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Move Ears To Target

• Description: Move both ears to a target range.

• Args:

  • target_range (float): The target range to move the ears to.
  • Valid values are between 0.0 (minimum) and 1.0 (maximum).

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "move_ears_to_target",
      "target_range": target_range
    }
  }
  

Move Ear To Target

• Description: Move a ear to a target range.

• Args:

  • ear (Ear): The ear to move.
  • target_range (float): The target range to move the ear to (between 0.0 and 1.0).

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "move_ear_to_target",
      "ear": ear_entity,
      "target_range": target_range
    }
  }
  

Play Face Reaction

• Description: Play a face reaction.

• Args:

  • emote_reaction (str): The emotion to react with.
  • pause_expression (bool): Whether to pause the expression.
  • speed_factor (float): The speed factor of the reaction.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "play_face_reaction",
      "emote_reaction": value,
      "pause_expression": pause_expression,
      "speed_factor": speed_factor
    }
  }
  

Play Face Reaction Range

• Description: Play a face reaction within a specified intensity range.

• Args:

  • emote_emotion (str): The emotion to react with.
  • intensity (float): The intensity level of the reaction, between 0.0 and 1.0.
  • Defaults to 0.8.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "play_face_reaction_range",
      "emote_emotion": emote_emotion,
      "intensity": intensity
    }
  }
  

Play Animation Sound

• Description: Play sound paired with a face animation.

• Args:

  • animation_name (str): The name of the animation containing the sound.
  • volume (float): The volume of the sound, between 0.0 and 1.0.
  • Defaults to 0.8.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "play_animation_sound",
      "animation_name": animation_name,
      "volume": volume
    }
  }
  

Wriggle Ears

• Description: Wriggle the ears.

• Args:

  • min_range (float): The minimum range of the wriggle (between 0.0 and 1.0).
  • max_range (float): The maximum range of the wriggle (between 0.0 and 1.0).
  • rounds (int): The number of rounds to wriggle.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "wriggle_ears",
      "min_range": min_range,
      "max_range": max_range,
      "rounds": rounds
    }
  }
  

Wriggle Ear

• Description: Wriggle one ear.

• Args:

  • ear (Ear): The ear to move.
  • min_range (float): The minimum range of the wriggle (between 0.0 and 1.0).
  • max_range (float): The maximum range of the wriggle (between 0.0 and 1.0).
  • rounds (int): The number of rounds to wriggle.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "wriggle_ear",
      "ears": ear_entity,
      "min_range": min_range,
      "max_range": max_range,
      "rounds": rounds
    }
  }
  

Hold Hand

• Description: Play animation to hold hand with specified arm.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "hold_hand",
      "hand": hand
    }
  }
  

Reset Ears

• Description: Reset ears to their nominal position.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Wind Ears

• Description: Wind robot's ears.

• Args:

  • frequency (float): Frequency in Hz to wind ears
  • min_range (float): Minimum range (between 0 and 1)
  • max_range (float): Maximum range (between 0 and 1)

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "wind_ears",
      "frequency": frequency,
      "min_range": min_range,
      "max_range": max_range
    }
  }
  

Lets Dance

• Description: Put robot's arm in dance position.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Sniff Around

• Description: Make the robot sniff around.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Body Scan

• Description: Make the robot fake a body scan.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Track Neck And Wait Infinitely

• Description: Set the neck mode to 'track' and focus on something.

• Args:

  • focus_on (str): set the focus on something (everything, handles, humans, deposit_zone, or firefly).
  • Default to 'everything'

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "track_neck_and_wait_infinitely",
      "focus_on": focus_on
    }
  }
  

Animate Neck And Wait Infinitely

• Description: Set the neck mode to 'animate'.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Freeze Neck And Wait Infinitely

• Description: Set the neck mode to 'freeze'.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Scan Neck And Wait Infinitely

• Description: Set the neck mode to 'scan'.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Take Neck Resource Punctually

• Description: Set the neck mode to 'auto'.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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