robot_behavior

Robot behavior control portmanteau - Animation, camera, navigation, and manipulation.

PORTMANTEAU PATTERN: Consolidates animation, camera, navigation, and manipulation operations into a single unified tool. This reduces tool explosion while maintaining full functionality across all behavior categories.

CATEGORIES:

• animation: Animation and pose control

• camera: Camera feed and visual control

• navigation: Path planning and navigation

• manipulation: Arm and gripper control

ANIMATION ACTIONS:

• animate_wheels: Rotate wheels during movement (Scout mecanum wheels)

• animate_movement: Play movement animations (walk, turn, etc.)

• set_pose: Set robot pose (sitting, standing, etc. for Unitree)

• play_animation: Play custom animations

• stop_animation: Stop current animation

• get_animation_state: Get current animation state

CAMERA ACTIONS:

• get_camera_feed: Get live camera feed (physical Scout camera)

• get_virtual_camera: Get Unity camera view from robot perspective

• set_camera_angle: Adjust camera angle

• capture_image: Capture still image

• start_streaming: Start video stream

• stop_streaming: Stop video stream

• get_camera_status: Get camera status and settings

NAVIGATION ACTIONS:

• plan_path: Plan path from A to B (A* or RRT)

• follow_path: Execute planned path

• set_waypoint: Set navigation waypoint

• clear_waypoints: Clear waypoint list

• get_path_status: Check path execution status

• avoid_obstacle: Dynamic obstacle avoidance

• get_current_path: Get current path being followed

MANIPULATION ACTIONS:

• move_arm: Move arm to target joint positions or end-effector pose

• set_joint_positions: Set individual joint positions (dict of joint_name: angle)

• set_end_effector_pose: Move end-effector to target pose (position + orientation)

• get_arm_state: Get current arm joint positions and end-effector pose

• open_gripper: Open gripper fully

• close_gripper: Close gripper fully

• set_gripper_position: Set gripper position (0.0 = open, 1.0 = closed)

• get_gripper_state: Get current gripper position and force feedback

• move_to_pose: Move arm to target pose with IK (inverse kinematics)

• home_arm: Return arm to home/rest position

Args: robot_id: Robot identifier (e.g., "scout_01", "vbot_scout_01"). category: Behavior category: "animation", "camera", or "navigation". action: Action to perform (see category-specific actions above). # Animation parameters (used when category="animation") wheel_speeds: Wheel speeds for animate_wheels. animation_name: Animation name for play_animation. pose: Pose name for set_pose. animation_speed: Animation speed multiplier. loop: Whether to loop animation. # Camera parameters (used when category="camera") angle_x: Camera angle X (pitch) in degrees. angle_y: Camera angle Y (yaw) in degrees. output_path: Output file path for capture_image. stream_url: Stream URL for start_streaming. # Navigation parameters (used when category="navigation") start_position: Start position (x, y, z) for plan_path. goal_position: Goal position (x, y, z) for plan_path. waypoint: Waypoint position (x, y, z) for set_waypoint. obstacle_position: Obstacle position (x, y, z) for avoid_obstacle. path_id: Path identifier for follow_path or get_path_status. # Manipulation parameters (used when category="manipulation") joint_positions: Joint positions dict (e.g., {"shoulder": 45.0, "elbow": 90.0}). end_effector_pose: End-effector pose dict with position and orientation. gripper_position: Gripper position (0.0 = open, 1.0 = closed). arm_id: Arm identifier for multi-arm robots (e.g., "left", "right"). force_limit: Maximum force/torque limit for movement. manipulation_speed: Movement speed (0.0-1.0) for arm/gripper motion.

Returns: Dictionary containing operation result.

Examples: # Animation result = await robot_behavior( robot_id="scout_01", category="animation", action="play_animation", animation_name="walk", animation_speed=1.0, loop=True )

# Camera
result = await robot_behavior(
    robot_id="scout_01",
    category="camera",
    action="capture_image",
    output_path="C:/Images/capture.jpg"
)

# Navigation
result = await robot_behavior(
    robot_id="scout_01",
    category="navigation",
    action="plan_path",
    start_position={"x": 0, "y": 0, "z": 0},
    goal_position={"x": 5, "y": 0, "z": 0}
)

# Manipulation - Move arm
result = await robot_behavior(
    robot_id="g1_01",
    category="manipulation",
    action="move_arm",
    joint_positions={"shoulder": 45.0, "elbow": 90.0, "wrist": 0.0}
)

# Manipulation - Open gripper
result = await robot_behavior(
    robot_id="g1_01",
    category="manipulation",
    action="open_gripper"
)