Animate

Animate Arms

Description: Animate both of the robot's arms.
Args:
- anim_name (ArmAnimations): The name of the animation to play.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

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

Animate Arm

Description: Animate one of the robot's arms.
Args:
- anim_name (ArmAnimations): The name of the animation to play.
- arm (Arm | list[Arm]): The arm to animate.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

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

Arms Down

Description: Move the robot's arms down.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

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

Arm Down

Description: Move one robot's arm down.
Args:
- arm (Arm | list[Arm]): The arm to animate.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

{
  "command": "skill",
  "value": {
    "name": "arm_down",
    "arm": arm
  }
}

Wiggle Ears

Description: Wiggle the ears back and forth. ⚠️ Note: synchronize_ears may produce unexpected behavior depending on the chosen range.
Args:
- min_range (float): Minimum wiggle range in [0.0, 1.0]. Defaults to 0.5. Defaults to 0.35.
- max_range (float): Maximum wiggle range in [0.0, 1.0]. Defaults to 1.0. Defaults to 0.75.
- rounds (int): Number of back-and-forth motions. Defaults to 3. Defaults to 4.
- synchronize_ears (bool): If True, both ears move together. Disabled by default. Defaults to False.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

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

Wiggle Ear

Description: Wiggle one ear.
Args:
- ear (Ear): The ear to move.
- min_range (float): The minimum range of the wiggle (between 0.0 and 1.0). Defaults to 0.5. Defaults to 0.5.
- max_range (float): The maximum range of the wiggle (between 0.0 and 1.0). Defaults to 1.0. Defaults to 1.0.
- rounds (int): The number of back-and-forth motions. Defaults to 3. Defaults to 3.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

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

Hold Hand

Description: Play animation to hold hand with specified arm.
Args:
- arm (Arm): The arm to use for holding hand.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

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

Reset Ears

Description: Reset ears to their nominal position.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

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

Wind Ears

Description: Wind the robot's ears.
Args:
- frequency (float): Frequency in Hz to wind ears.
- min_range (float): Minimum range (between 0 and 1). Defaults to 0.0. Defaults to 0.0.
- max_range (float): Maximum range (between 0 and 1). Defaults to 1.0. Defaults to 1.0.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

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

Sniff Around

Description: Make the robot sniff around.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

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

Body Scan

Description: Make the robot fake a body scan.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
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 select attention preference on something.
Args:
- attention_preference (AttentionPreference): Attention preference 'AttentionPreference.EVERYTHING'. Defaults to AttentionPreference.EVERYTHING.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

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

Animate Neck And Wait Infinitely

Description: Set the neck mode to 'animate'.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
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/v2/commands/skill/
HTTP Method: POST
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/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

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

Set Default Head Mode

Description: Change the default head mode.
Args:
- head_mode (HeadMode): Target head mode to set as default.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

{
  "command": "skill",
  "value": {
    "name": "set_default_head_mode",
    "head_mode": head_mode
  }
}

Set Body Posture

Description: Set the body posture of the robot.
Args:
- animation_name (PostureState): The posture to set.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

{
  "command": "skill",
  "value": {
    "name": "set_body_posture",
    "animation_name": animation_name
  }
}

Play Body Animation

Description: Robot is performing a full body animation: if arms aren't available, there's no reason to play the anim.
Args:
- animation_name (str): Animation name
- arm (Arm | None): Specified side (if appliable) Defaults to None.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

{
  "command": "skill",
  "value": {
    "name": "play_body_animation",
    "animation_name": animation_name
  }
}

Play Animation

Description: Play an animation with optional sound and arm movement.
Args:
- animation_name (str): The name of the animation to play.
- intensity (float): Intensity from 0.0 (low) to 1.0 (high). Defaults to 0.85. Defaults to 1.
- play_sound (bool): Whether to play a sound linked to the animation. Defaults to True. Defaults to True.
- disable_arms_animation (bool): if the arms should play the animation. Defaults to False.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

{
  "command": "skill",
  "value": {
    "name": "play_animation",
    "animation_name": animation_name,
    "intensity": intensity,
    "play_sound": play_sound,
    "disable_arms_animation": disable_arms_animation
  }
}

Set Base Emotion

Description: Set an base emotion.
Args:
- animation_name (BaseEmotion): The expressive state.
- intensity (float): Intensity from 0.0 (low) to 1.0 (high). Defaults to 1.0. Defaults to 1.0.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

{
  "command": "skill",
  "value": {
    "name": "set_base_emotion",
    "animation_name": animation_name,
    "intensity": intensity
  }
}

Move Ear

Description: Move a single ear to a specified target range.
Args:
- ear (Ear): The ear to move.
- target_range (float): The target position, between 0.0 (min) and 1.0 (max).
- motion_duration (float): Duration of the ear motion in seconds (maximum 20s). Defaults to 0.5.
- hold_duration (float | None): Additional hold time in seconds after the move (maximum 20s). If None, no hold is added. Defaults to None.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

{
  "command": "skill",
  "value": {
    "name": "move_ear",
    "ear": ear,
    "target_range": target_range,
    "motion_duration": motion_duration,
    "hold_duration": hold_duration
  }
}

Move Ears

Description: Move both ears to specified target ranges.
Args:
- left_target_range (float): Target position for the left ear.
- right_target_range (float): Target position for the right ear.
- motion_duration (float): Duration of the ears motion in seconds (maximum 20s). Defaults to 0.5.
- hold_duration (float | None): Additional hold time in seconds after the move (maximum 20s). If None, no hold is added. Defaults to None.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

{
  "command": "skill",
  "value": {
    "name": "move_ears",
    "left_target_range": left_target_range,
    "right_target_range": right_target_range,
    "motion_duration": motion_duration,
    "hold_duration": hold_duration
  }
}

Change Default Base Emotion

Description: Change the default expressive background animation settings.
Args:
- animation_name (BaseEmotion | None): The new animation name, if changing. Defaults to None.
- intensity (float | None): The new intensity, from 0.0 to 1.0, if changing. Defaults to None.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

{
  "command": "skill",
  "value": {
    "name": "change_default_base_emotion",
    "animation_name": animation_name,
    "intensity": intensity
  }
}

Change Default Interactive State

Description: Change the default interactive state settings.
Args:
- animation_name (InteractiveState | None): The new animation name, if changing. Defaults to None.
- intensity (float | None): The new intensity, from 0.0 to 1.0, if changing. Defaults to None.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

{
  "command": "skill",
  "value": {
    "name": "change_default_interactive_state",
    "animation_name": animation_name,
    "intensity": intensity
  }
}

Reset Background Animations

Description: Reset all background animations to their standard/default state.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

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

Set Interactive State

Description: Set an interactive background animation. This interactive state will complete when parent skill is complete or skill is canceled.
Args:
- animation_name (InteractiveState): The interactive state.
- intensity (float): Intensity from 0.0 (low) to 1.0 (high). Defaults to 1.0. Defaults to 1.0.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

{
  "command": "skill",
  "value": {
    "name": "set_interactive_state",
    "animation_name": animation_name,
    "intensity": intensity
  }
}

Enable Animated Arms

Description: Enable or Disable the following of animations (from the animations engine) on the arms.
Args:
- enable_arms (bool): If the arms should follows the animations.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

{
  "command": "skill",
  "value": {
    "name": "enable_animated_arms",
    "enable_arms": enable_arms
  }
}

Cancel Sound

Description: Cancel the currently playing sound, if any.
Args:
- sound_name (SoundName): The name of the sound to cancel.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

{
  "command": "skill",
  "value": {
    "name": "cancel_sound",
    "sound_name": sound_name
  }
}

Play Sound

Description: Play a sound by name, from a random selection or by specifying energy and index. Check folder ~/install/share/assets/animation_sounds to get the naming of sound animation set
Args:
- sound_name (SoundName): Sound to play
- energy (str): Energy level of the sound to use ("low", "medium", or "high"). Change the set variant. Defaults to "low". Defaults to 'low'.
- index (int | None): Variation index to play. If None, one audio is selected randomly from the chosen energy level. Defaults to None. Defaults to None.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

{
  "command": "skill",
  "value": {
    "name": "play_sound",
    "sound_name": sound_name,
    "energy": energy,
    "index": index
  }
}

Change Frequency Wind Ears

Description: Change the frequency of the wind ears animation.
Args:
- frequency (float): The frequency in Hz for the wind ears motion.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

{
  "command": "skill",
  "value": {
    "name": "change_frequency_wind_ears",
    "frequency": frequency
  }
}

Wake Up

Description: Wake up the robot.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

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

Set Neck Orientation

Description: Set the neck orientation in radians.
Args:
- roll (float): The roll angle in radians. Defaults to 0.0.
- pitch (float): The pitch angle in radians. Defaults to 0.0.
- yaw (float): The yaw angle in radians. Defaults to 0.0.
- reset_target_after (bool): in track mode, only the roll is applyed, Defaults to False. Defaults to False.
- wait_infinitely (bool): True if wait infinitely, otherwise use default neck behavior Defaults to True.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

{
  "command": "skill",
  "value": {
    "name": "set_neck_orientation",
    "roll": roll,
    "pitch": pitch,
    "yaw": yaw,
    "reset_target_after": reset_target_after,
    "wait_infinitely": wait_infinitely
  }
}

Reset Neck Orientation

Description: Reset target applied to the neck.
Endpoint: /api/v2/commands/skill/
HTTP Method: POST
Type of Argument: Dict

JSON Example:

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