Introduction

import math
from innate import Head, Mobility, Skill, SkillReturn

class LookAround(Skill):
    # Declared feeds are injected and guaranteed before execute() starts.
    mobility: Mobility
    head: Head

    def guidelines(self) -> str:
        # What the agent reads to decide when to call this skill.
        return "Use when the robot needs to scan its surroundings."

    def execute(self, num_directions: int = 4) -> SkillReturn:
        num_directions = max(1, num_directions)
        self.head.set_position(-15)
        for _ in range(num_directions):
            self.mobility.rotate((2 * math.pi) / num_directions)
            self.sleep(0.2)
        return "Scan complete"

{
  "name": "pick_cup",
  "type": "learned",
  "guidelines": "Use when you need to pick up a cup",
  "execution": {
    "model_type": "act_policy",
    "checkpoint": "policy_step_50000.pth"
  }
}