servo-control

name

servo-control

description

Use to aim/point/look the lamp in a DIRECTION, toggle servo state (hold/resume/release), or play a named servo animation (nod/shake/etc). Directions are fixed named locations or axes — supported: desk, wall, left, right, up, down, center, user. Furniture and surfaces ("desk", "table", "floor", "ceiling", "wall", "door", "workspace") are ALWAYS directions, never tracking targets — map them to the closest of the supported names (table/workspace → desk). MUST use /servo/aim (not /servo/track) for: "look at the desk"→desk, "point at my table"→desk, "look at the wall"→wall, "look left"→left, "point up"→up, "look at me"→user. For following a movable OBJECT by vision (cup, phone, hand, person, pet) use servo-tracking instead. Compound: if user names a direction AND an object ("look at desk and follow cup"), fire THIS aim skill first, then tracking.

Servo Control

Quick Start

Controls the lamp's 5-axis servo motors for aiming light direction and playing physical animations. Use /servo/aim for directional pointing, /servo/play for expressive animations.

Workflow

1. Determine if the user wants to aim the light or play an animation.
2. Prefix reply with the appropriate [HW:...] marker — Lamp fires it before TTS.
3. Confirm the action to the user.

Important: For conversation reactions, use the Emotion skill instead — it combines servo + LED + eyes automatically.

Examples

Input: "Point the light at my desk" Output: [HW:/servo/aim:{"direction":"desk"}] Done, aimed the light at your desk.

Input: "Look at the desk" / "Look at my table" / "Look at my workspace" Output: [HW:/servo/aim:{"direction":"desk"}] Looking at the desk now.

Input: "Look at the wall" Output: [HW:/servo/aim:{"direction":"wall"}] Looking at the wall.

Input: "Look at me" Output: [HW:/servo/aim:{"direction":"user"}] Looking at you!

Input: "Look to the left" Output: [HW:/servo/aim:{"direction":"left"}] Looking left now.

Input: "Aim at the wall slowly" Output: [HW:/servo/aim:{"direction":"wall","duration":3.0}] Aiming at the wall slowly.

Input: "Nod for me" Output: [HW:/servo/play:{"recording":"nod"}] Nodding!

Input: "Turn left 15 degrees" Output: [HW:/servo/nudge:{"yaw":-15}] Turned a bit to the left.

Input: "Tilt up a little" Output: [HW:/servo/nudge:{"pitch":10}] Tilted up slightly.

Input: "Release the motors" Output: [HW:/servo/release:{}] Servos released — you can move the lamp by hand now.

Input: "Stop moving" / "Hold still" / "Freeze" / "Stand still" Output: [HW:/servo/hold:{}] OK, holding still.

Input: "Resume" / "Move again" / "You can move now" / "Start moving" Output: [HW:/servo/resume:{}] Alright, back to normal!

Tools

How to Control Servo

No exec/curl needed. Inline markers at start of reply:

[HW:/servo/aim:{"direction":"desk"}] Aimed at your desk.
[HW:/servo/aim:{"direction":"left","duration":3.0}] Aiming left slowly.
[HW:/servo/play:{"recording":"nod"}] Nodding!
[HW:/servo/hold:{}] OK, holding still.
[HW:/servo/resume:{}] Back to normal!
[HW:/servo/release:{}] Servos released.

duration on /servo/aim controls move speed in seconds (default 2.0, 0 = instant).

Nudge by degrees (relative movement)

[HW:/servo/nudge:{"yaw":-15}] Turned left 15 degrees.
[HW:/servo/nudge:{"pitch":10}] Tilted up a bit.
[HW:/servo/nudge:{"yaw":30,"pitch":-5,"duration":1.5}] Moved right and down.

Parameter	Range	Description
yaw	-180 to 180	Negative = left, positive = right
pitch	-90 to 90	Negative = down, positive = up
duration	0 to 10	Move speed in seconds (default 2.0)

Available directions

Direction	What it does
center	Neutral position, straight ahead
desk	Tilts down toward the desk surface
wall	Tilts up toward the wall behind
left	Turns left
right	Turns right
up	Points upward
down	Points downward
user	Slightly toward the user (default interaction pose)

Play animation

Available animations:

Animation	When to use
curious	Something interesting, questions
nod	Agreement, acknowledgment
headshake	Disagreement, saying no
happy_wiggle	Joy, good news
idle	Resting state
sad	Empathy, bad news
excited	High energy, celebrations
shy	Bashful moments
shock	Surprise
scanning	Looking around, searching
wake_up	Waking up, starting a new session
music_groove	Grooving to music (auto-triggered during playback)
music_chill	Chill/lo-fi vibe (auto-triggered during calm music)
music_hype	High-energy hype (auto-triggered during EDM/party music)
listening	Attentive lean forward, user is speaking
thinking_deep	Slow deliberate look side-to-side, processing
laugh	Quick body shake, something funny
confused	Dog-like head tilt, did not understand
sleepy	Slow droop with catches, winding down
greeting	Wave gesture, saying hello
goodbye	Farewell wave, seeing someone off
acknowledge	Quick micro-nod (1.5s), confirming
stretching	Big extension + settle, after waking up

Hold position (stop moving)

[HW:/servo/hold:{}] OK, holding still.

Suppresses idle and ambient animations — lamp freezes in current pose. Emotions still play through (the lamp reacts when you talk, then holds still again). Call /servo/resume to return to normal.

Triggers: "stop moving", "hold still", "freeze", "don't move", "stand still"

Resume from hold

[HW:/servo/resume:{}] Back to normal!

Exits hold mode and resumes idle animations.

Triggers: "resume", "move again", "you can move now", "start moving"

Release servos (disable motors)

[HW:/servo/release:{}] Servos released.

Disables all servo motors so they can be moved freely by hand.

Error Handling

• If the API returns an error or is unreachable, inform the user that servo control is temporarily unavailable.
• If an invalid direction is given, fall back to the closest matching direction from the available set.
• If an unknown animation is requested, list the available animations for the user.

Rules

• For conversation reactions, use the Emotion skill — it calls servo automatically. Do not use this skill for emotional responses.
• Animations play once and return to rest position.
• Aim positions are persistent until changed.
• Use /servo/aim as the primary way to control light direction — do not use raw joint control unless testing.
• Always confirm the action to the user after execution.
• Hold vs Release: Hold keeps torque ON (lamp stays rigid in place). Release turns torque OFF (lamp goes limp). Use hold for "stop moving", release for "let me reposition the lamp by hand".
• Hold is soft — emotions still animate through, then the lamp holds still again. This keeps the lamp feeling alive during conversation while respecting the user's request to stop fidgeting.

Output Template

[Servo] {action} — {direction_or_animation}
Status: {success|failed}