Bt Action Discovery

• Workspace bounds (x_range, y_range)
• Color value ranges
• Default spawn position

Example Usage

When invoked, this skill reads the YAML and returns:

Available Primitive Actions:
- GoToPose(name, x, y, theta=None, tolerance_pos=0.1, tolerance_angle=0.1)
  - x, y must be in [0, 11]
  - Example: GoToPose(name='Move', x=5.0, y=5.0)

- SetPen(name, r=255, g=255, b=255, width=3, off=0)
  - RGB values in [0, 255]
  - Example: SetPen(name='Red', r=255, g=0, b=0, width=3)

[... continues for all actions ...]

Workspace Constraints:
- x_range: [0, 11]
- y_range: [0, 11]
- Default spawn: (5.544445, 5.544445)

Notes

• This skill has low degree of freedom - it simply reads and returns the YAML content in a structured format
• Future enhancement: Query live robot instead of static YAML file
• Invoked by: bt-composer (during generation) and bt-validator (during validation)