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v1

latestOpenAPI 3.1.02026-07-26243347.4 KB
control

Start the auto control by AI

Start the auto control by AI.

post/ai-control/start

Request body

angle_format'degrees' | 'rad' | 'other'

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.

cameras_keys_mappingobject nullable

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

checkpointinteger nullable

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

max_anglenumber nullable

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_anglenumber nullable

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.

model_idstring required

Hugging Face model id to use

model_type'gr00t' | 'ACT' | 'ACT_BBOX' required

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

promptstring nullable

Prompt to be followed by the robot

robot_serials_to_ignorestring[] nullable

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

selected_camera_idinteger nullable

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.

speednumber

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.

verify_camerasboolean

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

Example request

{
  "angle_format": "rad",
  "cameras_keys_mapping": {
    "context_camera": 1,
    "wrist_camera": 0
  },
  "checkpoint": 500,
  "robot_serials_to_ignore": [
    "/dev/ttyUSB0"
  ]
}

Response

Successful Response

ai_control_signal_idstring required
ai_control_signal_status'stopped' | 'running' | 'paused' | 'waiting' required
messagestring nullable
status'ok' | 'error'
All 24 operations