majiayu000/claude-arsenal
xiaohongshu
xiaohongshu
286 148
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Bt Action Discovery
bt-action-discovery
Discovers available robot actions by reading action_library.yaml. Returns action catalog with parameters and constraints for BT generation and validation.
SKILL.md
Full skill instructions
Purpose
This skill discovers what actions the robot supports. Currently reads from action_library/action_library.yaml. In the future, this will query the robot's advertised ROS services/actions dynamically.
Workflow
- Read
action_library/action_library.yaml - Parse available primitive and composite actions
- Return structured action catalog
Output Format
Return the following information:
Primitives
- Action name
- Package location
- Parameters (name, type, required, default, description)
- Valid ranges
- Example usage
Composites
- Action name
- Package location
- Parameters
- Example usage
Constraints
- Workspace bounds (x_range, y_range)
- Color value ranges
- Default spawn position
Example Usage
When invoked, this skill reads the YAML and returns:
Available Primitive Actions:
- GoToPose(name, x, y, theta=None, tolerance_pos=0.1, tolerance_angle=0.1)
- x, y must be in [0, 11]
- Example: GoToPose(name='Move', x=5.0, y=5.0)
- SetPen(name, r=255, g=255, b=255, width=3, off=0)
- RGB values in [0, 255]
- Example: SetPen(name='Red', r=255, g=0, b=0, width=3)
[... continues for all actions ...]
Workspace Constraints:
- x_range: [0, 11]
- y_range: [0, 11]
- Default spawn: (5.544445, 5.544445)
Notes
- This skill has low degree of freedom - it simply reads and returns the YAML content in a structured format
- Future enhancement: Query live robot instead of static YAML file
- Invoked by: bt-composer (during generation) and bt-validator (during validation)
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