Skills (Admin)

Animate

This module contains the animate-related features of the robot.

class pymirokai.features.skills.admin.animate.AnimateAdmin

Bases: object

Class to handle animate-related features of the robot.

apply_default_base_emotion()

Apply the default expressive background animation (ADMIN).

Return type:: Mission
Returns:: Mission – The mission representing the operation.

apply_default_interactive_state()

Apply the default interactive background animation (ADMIN).

Return type:: Mission
Returns:: Mission – The mission representing the operation.

set_animations_intensity(intensity)

Set the default intensity applied to animations that don’t specify their own (ADMIN).

Parameters:: intensity (int) – New intensity in percent (0-100).
Return type:: Mission
Returns:: Mission – The mission representing the operation.

set_play_sound_enabled(enabled)

Set whether animations play their linked sound by default when not specified (ADMIN).

Parameters:: enabled (bool) – New default for the play_sound animation parameter.
Return type:: Mission
Returns:: Mission – The mission representing the operation.

set_voice_emotion(emotion)

Set the default emotion applied to speech that doesn’t specify its own (ADMIN).

Parameters:: emotion (str) – New default for the say skill’s emotion parameter.
Return type:: Mission
Returns:: Mission – The mission representing the operation.

Freeze

This module contains the freeze-related features of the robot.

class pymirokai.features.skills.admin.freeze.FreezeAdmin

Bases: object

Class to handle freeze-related features of the robot.

emergency_freeze()

Freeze all of the robot’s movement.

Return type:: Mission
Returns:: Mission – The mission representing the task.

emergency_unfreeze()

Resume the robot’s movement after freezing.

Return type:: Mission
Returns:: Mission – The mission representing the task.

Interact

This module contains the interact-related features of the robot.

class pymirokai.features.skills.admin.interact.InteractAdmin

Bases: object

Class to handle interact-related features of the robot.

fake_asr(text)

Fake the Autonomous Speech Recognition to make the robot hear something.

Parameters:: text (str) – The text to hear.
Return type:: Mission
Returns:: Mission – The mission representing the task.

Manipulate

This module contains the manipulate-related features of the robot.

class pymirokai.features.skills.admin.manipulate.ManipulateAdmin

Bases: object

Class to handle manipulate-related features of the robot.

grasp_any_object(arm=None)

Grasp any object in front of the robot.

Parameters:: arm (Arm | list[Arm] | None) – Preferred arm(s) to use (Arm.LEFT / Arm.RIGHT). If None, the robot chooses automatically.
Return type:: Mission
Returns:: Mission – The mission representing the task.

Navigate

This module contains the navigate-related features of the robot.

class pymirokai.features.skills.admin.navigate.NavigateAdmin

Bases: object

Class to handle navigate-related features of the robot.

add_new_location(loc)

Persist one navigation location from Wizard/admin inputs.

Parameters:: loc (dict) – Location payload containing label, type, x, y, yaw and optional map_id.
Return type:: Mission
Returns:: Mission – The mission representing the task.

delete_location(location_id)

Delete a saved location by id.

Parameters:: location_id (str) – Identifier of the location to delete.
Return type:: Mission
Returns:: Mission – The mission representing the task.

delete_map(map_id)

Delete a stored map by id.

Parameters:: map_id (str) – Identifier of the map to delete.
Return type:: Mission
Returns:: Mission – The mission representing the task.

get_active_map_id()

Get the id of the currently loaded map, if any.

Return type:: Mission
Returns:: Mission – The mission representing the task.

get_current_request_id()

Get the request id of the navigation command currently tracked by Mirokai.

Return type:: Mission
Returns:: Mission – The mission representing the task.

get_travel_cmd_feedback()

Get the feedback of the last travel command (e.g. start_map_recording, save_map, add_new_location).

Return type:: Mission
Returns:: Mission – The mission representing the task.

is_nav_lost()

Check whether the robot’s navigation localization is currently lost.

Return type:: Mission
Returns:: Mission – The mission representing the task.

load_map_and_relocalize(map_id)

Load a stored map and relocalize the robot on it.

Parameters:: map_id (str) – Identifier of the map to load.
Return type:: Mission
Returns:: Mission – The mission representing the task.

locations_list()

List all the locations saved on the currently loaded map.

Return type:: Mission
Returns:: Mission – The mission representing the task.

maps_list()

List all the maps stored on the robot.

Return type:: Mission
Returns:: Mission – The mission representing the task.

reset_map()

Discard the active map recording and start again.

Return type:: Mission
Returns:: Mission – The mission representing the task.

save_current_location(label)

Save the robot’s current position on the loaded map under the given label.

Parameters:: label (str) – Name to assign to the current location.
Return type:: Mission
Returns:: Mission – The mission representing the task.

save_map(map_name='', set_active=True)

Persist the current map and optionally activate it.

Parameters:

map_name (str) – Optional map name.
set_active (bool) – Whether the saved map becomes active.

Return type:

Mission

Returns:

Mission – The mission representing the task.

start_map_recording()

Start recording a new map.

Return type:: Mission
Returns:: Mission – The mission representing the task.

stop_map_recording()

Stop the active map recording.

Return type:: Mission
Returns:: Mission – The mission representing the task.

update_location(id, label, type, x, y, yaw, map_id='')

Update a saved location’s label, type, or pose.

Parameters:

id (str) – Identifier of the location to update.
label (str) – New label for the location.
type (str) – New type for the location.
x (float) – New x coordinate.
y (float) – New y coordinate.
yaw (float) – New yaw orientation.
map_id (str) – Map the location belongs to, defaults to the active map.

Return type:

Mission

Returns:

Mission – The mission representing the task.

Show-Off

This module contains the show_off-related features of the robot.

class pymirokai.features.skills.admin.show_off.ShowOffAdmin

Bases: object

Class to handle show_off-related features of the robot.

fall_asleep()

Make the robot fall asleep.

Return type:: Mission
Returns:: Mission – The mission representing the task.

System

This module contains system-related features of the robot.

class pymirokai.features.skills.admin.system.SystemAdmin

Bases: object

Class to handle system-related features of the robot.

clear_llm_history()

Clear events list in semantic memory.

Return type:: Mission
Returns:: Mission – The mission representing the task.

get_ip()

Retrieve the robot’s current IP address.

Return type:: Mission
Returns:: Mission – The mission representing the task.

human_reactive_pupils_dilation()

Used as a background skill to adjusts robot’s pupil dilation based on the proximity of the closest human.

The closer a human is, the wider the pupils become.

Return type:: Mission

react_to_external_action()

Used as a background skill, to react to certain interactive actions.

Reacts to actions like shake hand, high five, fist bump… if external force is detected.

Return type:: Mission

reload_prompt()

Reload current prompts.

Return type:: Mission
Returns:: Mission – The mission representing the task.

remove_runtime_prompt(key)

Remove a key in the runtime prompt dict.

Parameters:: key (str) – Identifier of the runtime prompt to remove.
Return type:: Mission

set_default_ears_behavior()

Used as a background skill for ears to reset at the end of all skills.

Return type:: Mission

set_runtime_prompt(key, value)

Update a value for a key in the runtime prompt.

Parameters:

key (str) – Identifier of the runtime prompt. Not present in the prompt seen by the LLM.
value (str) – The runtime prompt value.

Return type:

Mission

trigger_torque_sensor_calib()

Trigger torque sensor calibration on both arms.

Return type:: Mission
Returns:: Mission – The mission representing the task.

update_prompt(prompt)

Update current prompt of the robot.

Parameters:: prompt (str) – New prompt to use on the robot
Return type:: Mission
Returns:: Mission – The mission representing the task.

Transport

This module contains the transport-related features of the robot.

class pymirokai.features.skills.admin.transport.TransportAdmin

Bases: object

Class to handle transport-related features of the robot.