7.10 Skill Playback

7.10.1 Overview

The A3-Ultra skill playback section relies on the various resources imported through the resource management module, including motions, audio, and emoticons. Through the interfaces provided in this section, users can perform actions such as motion playback, audio playback, and emoticon playback.

Note: To obtain lists of these resources, use the Get Resource List interface provided by the resource management module.

7.10.2 Motion Play/Pause/Reset Interface

Interface Name	`pb:/aimdk.protocol.MotionCommandService/SendMotionCommand`
Overview	Play the specified motion file
Interface Type	HTTP JSON RPC
URL	http://10.42.10.12:56444/rpc/aimdk.protocol.MotionCommandService/SendMotionCommand
Input	text `{ "motion_id": "/agibot/data/resources/default/motion/handshake/woshou1_Skeleton0.mcap", "duration_ms": 10000, "cmd_end": true, "cmd_pause": false, "cmd_reset": false, "cmd_repeat": false }` `motion_id`: Absolute path of the motion file `duration_ms`: Maximum runtime of the motion in milliseconds `cmd_end`: Whether to automatically return to the initial pose after playback completes. `true` means auto reset `cmd_pause`: Pause flag. `true` pauses the current motion playback `cmd_reset`: Reset flag. `true` immediately stops the current motion and restores the initial pose `cmd_repeat`: Repeat flag. `true` automatically repeats the motion after playback completes
Output	text `{ "header": { "code": "0", "msg": "", "timestamp": { "seconds": "1762851946", "nanos": 693223585, "ms_since_epoch": "0" }, "trace_id": "", "domin": "" }, "state": "CommonState_SUCCESS" }` `state`: Request status. Success is `CommonState_SUCCESS`, and failure is `CommonState_FAILURE`
Example Script	examples/skill_play/SendMotionCommand.py
Remarks	Play, pause, and stop are all implemented through the same `SendMotionCommand` interface, with different fields controlling the behavior Motion resources can be imported through the Create Resource interface

7.10.3 Play Audio

Interface Name	pb:/aimdk.protocol.HalAudioService/PlayFile
Overview	Play the specified audio file
Interface Type	HTTP JSON RPC
URL	http://10.42.10.10:56666/rpc/aimdk.protocol.HalAudioService/PlayFile
Input	Play a WAV file (recommended): text `{ "header": { "timestamp": { "seconds": "0", "nanos": 0, "ms_since_epoch": "0" } }, "pkg_name": "", "file_name": "Ding.wav", "file_path": "", "priority": "DEFAULT", "priority_weight": 0, "channles": 0, "samplerate": 0 }` Play a PCM file (channel count and sample rate required): text `{ "header": { "timestamp": { "seconds": "0", "nanos": 0, "ms_since_epoch": "0" } }, "pkg_name": "", "file_name": "wake.pcm", "file_path": "", "priority": "DEFAULT", "priority_weight": 0, "channles": 1, "samplerate": 24000 }` `header`: Request header, optional `pkg_name`: Caller identifier string, optional. If provided, it is returned unchanged in the output and can be used for log tracing `file_name`: Audio file name. The server looks for this file under `/agibot/data/var/hal_audio/file/` `file_path`: File path, optional `priority`: Playback priority, optional. Enum names are supported. The default values are 0 and L1(1) to L10(10). A larger value means higher priority. Higher-priority audio interrupts lower-priority audio that is currently playing. Final priority = `PlayPriority × 100 + priority_weight` `priority_weight`: Priority weight parameter (0-99), optional. Do not use unless required by the product `channles`: Number of channels. Optional when the audio file is a `.wav` file `samplerate`: Sample rate. Optional when the audio file is a `.wav` file
Output	text `{ "pkg_name": "", "is_success": true }` `pkg_name`: Caller identifier, identical to the value passed in the input `is_success`: Whether the request was accepted
Example Script	examples/skill_play/PlayFile.py
Remarks	The audio file must be placed in `/agibot/data/var/hal_audio/file/` in advance Both WAV and PCM formats are supported. WAV files include their own format header and can be played directly. PCM files must provide `channles` and `samplerate`, otherwise the error `plz update file channels info` is returned

7.10.4 Stop Audio

Interface Name	pb:/aimdk.protocol.HalAudioService/StopPlay
Overview	Stop the currently playing audio
Interface Type	HTTP JSON RPC
URL	http://10.42.10.10:56666/rpc/aimdk.protocol.HalAudioService/StopPlay
Input	text `{}` Pass an empty request body to stop the current playback
Output	text `{ "pkg_name": "", "is_success": true }` `is_success`: Whether the stop operation succeeded
Example Script	examples/skill_play/StopPlay.py
Remarks	The call stops the audio that is currently playing immediately

7.10.5 Emoticon Playback

Interface Name	`/skill/pilot/face/play`
Overview	Used to play emoticons
Interface Type	ros2 topic
Input	text `{ "header": { "timestamp": { "seconds": 1763681490, "nanos": 943287000, "ms_since_epoch": 1763681490943 } }, "e_path": "/agibot/data/resources/default/emoticon/disable_voice/emoticon.mp4", "e_id": 15, "repeat": 1, "priority": 440, "is_stop": false }` `e_path`: Directory of the emoticon file. An absolute path is required `e_id`: Emoticon resource ID. It can be obtained through the GetResourceList interface and may be left empty `repeat`: Number of repetitions `priority`: Priority value. Use `440`. A smaller value means a higher priority `is_stop`: Used to display or cancel display. When stopping playback, `e_path`, `e_id`, `repeat`, and `priority` may all be left empty
Example Script	examples/skill_play/face_play.py
Remarks	The ROS2 message type is `ros2_plugin_proto/msg/RosMsgWrapper`. Before using it, run `source prebuilt/ros2_plugin_proto_aarch64/share/ros2_plugin_proto/local_setup.bash` This message is transmitted through iceoryx by default. To use ros2 topic transport instead, log in to the MDU and change the communication mode of `/skill/pilot/face/play` under `aimrt/channel/sub_topics_options` in `/agibot/software/v0/config/skillpilot/skillpilot.yaml` to `[ mqtt, ros2 ]`. Restart the robot after modification The emoticon list can be obtained through the resource list interface

7.10.6 Skill Status Interface

Interface Name	`/skill/pilot/skill_status`
Overview	Skill status interface
Interface Type	ros2 topic
Output	text `{ "core": 3, "battery": 0, "auto_charging": 1 }` Part of the meaning of `core` is shown below. Other values are omitted: CoreState_Working = CoreState_Initial CoreState_Avatar = 6; // Avatar CoreState_Collecting = 9; // Data collection CoreState_MapBuilding = 13; // Mapping Part of the meaning of `battery` is shown below. Other values are omitted: BatteryState_DualBattery_NotCharging_Normal = 6; BatteryState_DualBattery_NotCharging_LowPower = 7; BatteryState_DualBattery_Charging = 8; BatteryState_SingleBattery_NotCharging = 9; BatteryState_SingleBattery_Charging = 10; BatteryState_NoBattery_Charging = 11; The meaning of `auto_charging` is as follows: AutoChargingState_Idle = 1; // Idle and ready AutoChargingState_Navigating = 2; // Navigating AutoChargingState_NaviSuccess = 3; // Navigation succeeded AutoChargingState_NaviFailed = 4; // Navigation failed AutoChargingState_Plugging = 5; // Plugging in AutoChargingState_PlugSuccess = 6; // Plug-in succeeded AutoChargingState_PlugFailed = 7; // Plug-in failed AutoChargingState_Charging = 8; // Charging AutoChargingState_Unplugging = 9; // Unplugging AutoChargingState_UnplugSuccess = 10; // Unplug succeeded AutoChargingState_UnplugFailed = 11; // Unplug failed AutoChargingState_Finished = 12; // Autonomous charging flow completed AutoChargingState_Failed = 13; // Autonomous charging flow failed
Example Script	examples/skill_play/skill_status.py
Remarks	The ROS2 message type is `ros2_plugin_proto/msg/RosMsgWrapper`. Before using it, run `source prebuilt/ros2_plugin_proto_aarch64/share/ros2_plugin_proto/local_setup.bash` Only part of the important output fields is shown here. Other output fields can be ignored This message is transmitted through iceoryx by default. To use ros2 topic transport instead, log in to the MDU and change the communication mode of `/skill/pilot/skill_status` under `aimrt/channel/pub_topics_options` in `/agibot/software/v0/config/skillpilot/skillpilot.yaml` to `[ mqtt, ros2 ]`. Restart the robot after modification

7.10.7 Autonomous Charging Interface

Interface Name	`pb:/aimdk.protocol.SkillPilotService/AutoCharging`
Overview	Autonomous charging interface
Interface Type	RPC
Input	text `{ "header": 3, "command": 1, "trigger": 3 }` The meaning of `command` is as follows: AutoChargingCommand_START = 1; // Start autonomous charging AutoChargingCommand_STOP = 3; // Stop/end (while navigating: stop navigation and stay in place; while plugging in: complete plugging then unplug; while charging: unplug; while unplugging: no action) AutoChargingCommand_RESET = 4; // Reset after failure (call after Stop to restore autonomous charging to Idle; if not called, it automatically recovers after 10 seconds) The meaning of `trigger` is as follows: AutoChargingTrigger_AGENT = 1; // Agent (voice/agent initiated) AutoChargingTrigger_AIMMASTER = 2; // AimMaster (manual click in app) AutoChargingTrigger_LOW_POWER = 3; // Automatically triggered by low battery AutoChargingTrigger_IDLE_TIMEOUT = 4; // Automatically triggered after a long idle timeout
Output	text `{ "available_time": "", "session_id": "" }` `session_id`: A UUID is returned if the skill is scheduled successfully
Example Script	examples/skill_play/auto_charging.py
Remarks	The ROS2 message type is `ros2_plugin_proto/msg/RosMsgWrapper`. Before using it, run `source prebuilt/ros2_plugin_proto_aarch64/share/ros2_plugin_proto/local_setup.bash` Only part of the important output fields is shown here. Other output fields can be ignored

7.10.8 Dance Playback Interface

Interface Name	`pb:/aimdk.protocol.SkillPilotService/SkillPackage`
Overview	Dance playback interface
Interface Type	rpc
Input	text `{ "source": "custom", "command": "Start", "path": "/agibot/data/resources/default/skill/Charleston", "session_id": "" }` `source`: Used only for logging. Set it to `custom` `command`: Supported values are `Start`, `Pause`, and `Stop` `path`: Path of the dance resource. Related information can be obtained from the resource management section `session_id`: Skill session ID, mainly used for pause and stop operations
Output	text `{"header":{ "code":"0", "msg":" transition succeed", "trace_id":"", "domin":"skillpilot"}, "available_time":"0", "session_id":"ae82ee85-e90e-4802-87bd-f1e2ad09874c"}`
Example Script	examples/skill_play/dance_play.py
Remarks	When calling this interface, keep a two-meter obstacle-free area around the robot