interaction_skills/action/DoLedEffect

std_skills/Meta meta

# The LED groups to use for the effect.
# They are identified by their name (e.g., ["ear_leds", "back_leds"]).
# An empty list means the effect is applied to all LED groups.
# The list of available LED groups should be exposed by the action server;
# it is suggested to use a read-only array of strings "led_groups" parameter for this purpose.
string[] groups

# The selected LED effect.
string EFFECT_SOLID_COLOR = "solid_color"
string EFFECT_RAINBOW = "rainbow"
string EFFECT_FADE = "fade"
string EFFECT_BLINK = "blink"
string EFFECT_FLOW = "flow"
string effect "solid_color"

# Total duration of the effect before the action is completed.
# A null or negative number will mean the action continues indefinitely until canceled.
float32 duration

# Used for effects:
# - EFFECT_SOLID_COLOR
# - EFFECT_FADE
# - EFFECT_BLINK
# - EFFECT_FLOW
interaction_skills/LedColor color

# Used for effects:
# - EFFECT_SOLID_COLOR
# - EFFECT_FADE
# - EFFECT_BLINK
# - EFFECT_FLOW
interaction_skills/LedColor secondary_color

# Duration in seconds of a single cycle of the effect.
# Used for effects:
# - EFFECT_RAINBOW
# - EFFECT_FADE
# - EFFECT_BLINK
# - EFFECT_FLOW
float32 cycle 1.0

# For effects with two phases in a cycle
# (or two spatially separated partitions as in EFFECT_SOLID_COLOR),
# the proportion of the first one ([0., 1.])
# Used for effects:
# - EFFECT_SOLID_COLOR
# - EFFECT_FADE
# - EFFECT_BLINK
float32 partition 1.0

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std_skills/Result result

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std_skills/Feedback feedback