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POST
/
ai-control
/
start
{
  "ai_control_signal_id": "<string>",
  "ai_control_signal_status": "stopped",
  "message": "<string>",
  "server_info": {
    "model_id": "<string>",
    "port": 123,
    "server_id": 123,
    "tcp_socket": [
      "<any>"
    ],
    "timeout": 123,
    "url": "<string>"
  },
  "status": "ok"
}

Body

application/json

Request to start the AI control of the robot.

​
model_id
string
required

Hugging Face model id to use

​
model_type
enum<string>
required

Type of model to use. Can be gr00t or act.

Available options:
gr00t,
ACT,
ACT_BBOX
​
angle_format
enum<string>
default:rad

Format of the angles used in the model. Can be 'degrees', 'radians', or 'other'. If other is selected, you will need to specify a min and max angle value.

Available options:
degrees,
rad,
other
Examples:

"rad"

​
cameras_keys_mapping
object | null

Mapping of the camera keys to the camera ids. If set to None, use the default mapping based on cameras order.

Examples:
{ "context_camera": 1, "wrist_camera": 0 }
​
checkpoint
integer | null

Checkpoint to use for the model. If None, uses the latest checkpoint.

Examples:

500

​
max_angle
number | null

If angle_format is 'other', this is the maximum angle value used in the model. If None and angle_format is 'other', will raise an error.

​
min_angle
number | null

If angle_format is 'other', this is the minimum angle value used in the model. If None and angle_format is 'other', will raise an error.

​
prompt
string | null

Prompt to be followed by the robot

​
robot_serials_to_ignore
string[] | null

List of robot serial ids to ignore. If set to None, controls all available robots.

Examples:
["/dev/ttyUSB0"]
​
selected_camera_id
integer | null

Name of the camera to use when ACT_BBOX model is used. This is only required for ACT_BBOX models, and is ignored for other models.

​
speed
number
default:1

Speed of the AI control. 1.0 is normal speed, 0.5 is half speed, 2.0 is double speed. The highest speed is still bottlenecked by the GPU inference time.

Required range: 0.1 <= x <= 2
​
verify_cameras
boolean
default:true

Whether to verify the setup before starting the AI control. If False, skips the verification step.

Response

Successful Response

Response when starting the AI control.

​
ai_control_signal_id
string
required
​
ai_control_signal_status
enum<string>
required
Available options:
stopped,
running,
paused,
waiting
​
message
string | null
​
server_info
object | null
​
status
enum<string>
default:ok
Available options:
ok,
error
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