PAL public skills API¶
This page lists all the public skills available in PAL OS edge.
hand_grasp¶
Domains: manipulation
Interface: /skill/hand_grasp
Message type: manipulation_skills/action/HandGrasp
Controls a robotic hand or gripper to either close (grasp) or open (release). This skill sends a goal to the specified end-effector (left, right, or default) with an optional precision setting for the closing position.
- Once invoked, the robot will:
Target the desired hand/gripper.
Perform the requested action (close/open).
Report back feedback and a result message indicating success or failure.
Typical uses include closing a gripper to get hold of an object, releasing an object, or partially closing the gripper to a specific position for delicate handling.
Detailed documentation and examples: hand_grasp
ask_human_for_help¶
Domains: interaction, communication
Interface: /skill/ask_human_for_help
Message type: interaction_skills/action/AskHumanForHelp
Ask a human for help
Detailed documentation and examples: ask_human_for_help
do_led_effect¶
Domains: interaction
Interface: /skill/do_led_effect
Message type: interaction_skills/action/DoLedEffect
Perform light effects using the robot’s LEDs.
Detailed documentation and examples: do_led_effect
look_for_human¶
Domains: interaction
Interface: /skill/look_for_human
Message type: interaction_skills/action/LookFor
Search and localize specific humans
Detailed documentation and examples: look_for_human
look_for_object¶
Domains: interaction
Interface: /skill/look_for_object
Message type: interaction_skills/action/LookFor
Search and localize specific objects
Detailed documentation and examples: look_for_object
set_expression¶
Domains: interaction
Interface: /skill/set_expression
Message type: interaction_skills/msg/SetExpression
Sets the expression of the robot. This might include changing the robot’s face, body posture, or other expressive features.
One either sets the expression by name, or by specifying the valence and arousal of the expression.
Detailed documentation and examples: set_expression
look_at¶
Domains: interaction
Interface: /skill/look_at
Message type: interaction_skills/action/LookAt
Defines the gazing direction of the robot. This skill can be used to either look at a specific point in space (a ROS tf frame), or to set a generic gaze policy, such as looking at people around the robot.
Using the glance policy, you can also use this skill to brielfy look at
a specific point in space, before returning to the previous gaze policy.
Detailed documentation and examples: look_at
ask¶
Domains: communication
Interface: /skill/ask
Message type: communication_skills/action/Ask
A specialization of the chat where the role is predefined and the dialogue is always initiated by the robot.
See How-to: Dialogue management for details.
Detailed documentation and examples: ask
chat¶
Domains: communication
Interface: /skill/chat
Message type: communication_skills/action/Chat
Start a dialogue with a defined purpose.
See How-to: Dialogue management for details.
Detailed documentation and examples: chat
say¶
Domains: communication
Interface: /skill/say
Message type: communication_skills/action/Say
Speak out the provided input text (also executing any additional markup action).
See How-to: Speech synthesis (TTS) for details.
Detailed documentation and examples: say