Navigation Interfaces

from brain_client.skill_types import Skill, Interface, InterfaceType

class MySkill(Skill):
    mobility = Interface(InterfaceType.MOBILITY)

import math

# Rotate 90 degrees (blocking)
self.mobility.rotate(math.pi / 2)

# Drive forward for 2 seconds (non-blocking)
self.mobility.send_cmd_vel(linear_x=0.1, angular_z=0.0, duration=2.0)

# Spin in place
self.mobility.rotate_in_place(angular_speed=0.5, duration=3.0)

from brain_client.skill_types import Skill, SkillResult, Interface, InterfaceType
import math

class LookAround(Skill):
    mobility = Interface(InterfaceType.MOBILITY)

    @property
    def name(self):
        return "look_around"

    def guidelines(self):
        return "Use when the robot needs to look in multiple directions."

    def execute(self, num_directions: int = 4):
        rotation_per_step = (2 * math.pi) / num_directions

        for i in range(num_directions):
            if self._cancelled:
                return "Survey cancelled", SkillResult.CANCELLED

            self._send_feedback(f"Looking direction {i+1}/{num_directions}")
            self.mobility.rotate(rotation_per_step)

        return "Survey complete", SkillResult.SUCCESS

    def cancel(self):
        self._cancelled = True
        return "Survey cancelled"