joyin-robot-control（卓音机器人控制） Skills下载安装命令和教程

安装方式

通过对话安装

复制提示词发给支持本地命令或 Skills 的 AI 助手，先确认命令和权限，再让它执行。

请帮我安装这个 Agent Skill：joyin-robot-control（卓音机器人控制）
来源仓库：https://github.com/yanfang724/joyin-robot-control
安装命令：
openclaw skills install joyin-robot-control
安装前请先检查当前环境是否支持对应 CLI，并向我确认将要执行的命令、安装目录、联网范围和文件读写权限；确认后再执行。

命令行安装

复制命令到本机终端执行。该命令会通过 OpenClaw 从第三方来源获取 Skill；本站只展示命令，不托管安装包，也不自动执行。

ClawHubOpenClaw

openclaw skills install joyin-robot-control

简介

控制 JoyIn AI 机器人 (W-1 Walle / M-1 Mini) — 通过 OpenAPI 移动、跟随、照片、视频、直播、TTS、代理配置和设备状态。

SKILL.md

name: joyin-robot-control
description: Control JoyIn AI robots (W-1 Walle / M-1 Mini) — movement, follow, photo, video, live stream, TTS, agent config, and device status via OpenAPI.
metadata: {"openclaw": {"requires": {"bins": ["python3"], "env": ["JOYIN_API_BASE", "JOYIN_AUTH_KEY", "JOYIN_DEVICE_SN"]}, "primaryEnv": "JOYIN_AUTH_KEY"}}

JoyIn Robot Control

Control JoyIn AI robots through the official OpenAPI. Supports W-1 (Walle) and M-1 (Mini) robots.

Setup

OpenClaw Configuration

Add the following to ~/.openclaw/openclaw.json:

{
  "skills": {
    "entries": {
      "joyin-robot-control": {
        "enabled": true,
        "apiKey": "YOUR_AUTH_KEY",
        "env": {
          "JOYIN_API_BASE": "https://api-open-test.joyin-ai.com",
          "JOYIN_AUTH_KEY": "YOUR_AUTH_KEY",
          "JOYIN_DEVICE_SN": "YOUR_DEVICE_SN",
          "JOYIN_DEVICE_TYPE_ID": "3"
        }
      }
    }
  }
}

See {baseDir}/openclaw.config.example.json5 for a full template.

Environment Variables

Variable	Required	Description
`JOYIN_API_BASE`	Yes	API base URL (test: `https://api-open-test.joyin-ai.com`)
`JOYIN_AUTH_KEY`	Yes	Authorization key (contact JoyIn staff to obtain)
`JOYIN_DEVICE_SN`	Yes	Target device serial number
`JOYIN_DEVICE_TYPE_ID`	No	`3` for Walle (default), `2` for Mini

OpenClaw injects these via skills.entries.*.env at agent run time. They are scoped to the run and do not leak into the global shell environment.

Tool

python3 {baseDir}/scripts/robot_cmd.py <command> [options]

Agent Workflow Rules (IMPORTANT)

ALWAYS run preflight before sending any robot command. This checks whether the device is online, its battery level, and current work mode.

Decision flow:

1. Run: python3 {baseDir}/scripts/robot_cmd.py preflight
2. Check the result:
   - "ready": false  → Tell the user why (offline / OTA / low battery). Do NOT send commands.
   - "ready": true, with "note" about current mode → Inform the user, then proceed.
   - "ready": true, idle → Proceed with the command.
3. Execute the requested command.
4. Report the result to the user.

State-aware behavior:

current_status	Meaning	What to do
`offline`	Device not connected	Tell user. Do not send commands.
`idle`	Ready	Proceed normally.
`follow`	Following a person	Warn before sending conflicting commands (e.g. remote_control). Use `stop` first.
`remote_control`	Joystick active	Already in RC mode. Can send move commands directly.
`patrol`	Patrolling	Warn before interrupting. Use `stop` first.
`go_charge`	Returning to charger	Warn before interrupting.
`guard`	Monitoring	Warn before interrupting.
`ota`	Firmware updating	Do NOT send any commands. Wait.
`build_map`	Building SLAM map	Do NOT interrupt.
`active_action`	Performing action	Conflicts with follow. Use `stop` first if needed.

Battery rules:

< 10% and not charging → Suggest charge command before any movement.
< 5% → Refuse movement commands, only allow charge and status.

Quick Examples

# ALWAYS run preflight check first
python3 {baseDir}/scripts/robot_cmd.py preflight

# Move robot forward
python3 {baseDir}/scripts/robot_cmd.py move --direction forward

# Stop all movement
python3 {baseDir}/scripts/robot_cmd.py stop

# Make robot say something
python3 {baseDir}/scripts/robot_cmd.py tts --text "你好，我是你的机器人助手"

# Check device status (battery, online, charging)
python3 {baseDir}/scripts/robot_cmd.py status

# Get live video stream URL
python3 {baseDir}/scripts/robot_cmd.py live_pull_url

Command Reference

1. Movement — Remote Control

Enter / Exit remote control mode:

python3 {baseDir}/scripts/robot_cmd.py rc_enter
python3 {baseDir}/scripts/robot_cmd.py rc_exit

Chassis movement (8 directions, send continuously at ~100ms interval, robot stops when commands stop):

python3 {baseDir}/scripts/robot_cmd.py move --direction forward
python3 {baseDir}/scripts/robot_cmd.py move --direction backward
python3 {baseDir}/scripts/robot_cmd.py move --direction left
python3 {baseDir}/scripts/robot_cmd.py move --direction right
python3 {baseDir}/scripts/robot_cmd.py move --direction left_up
python3 {baseDir}/scripts/robot_cmd.py move --direction right_up
python3 {baseDir}/scripts/robot_cmd.py move --direction left_down
python3 {baseDir}/scripts/robot_cmd.py move --direction right_down

# Stop chassis movement
python3 {baseDir}/scripts/robot_cmd.py move_stop

Head control (Walle only) — up/down/left/right, send continuously at ~100ms:

python3 {baseDir}/scripts/robot_cmd.py head --direction up
python3 {baseDir}/scripts/robot_cmd.py head --direction down
python3 {baseDir}/scripts/robot_cmd.py head --direction left
python3 {baseDir}/scripts/robot_cmd.py head --direction right
python3 {baseDir}/scripts/robot_cmd.py head --direction stop

Arm control (Walle only) — left_arm or right_arm:

python3 {baseDir}/scripts/robot_cmd.py arm --side left --direction up
python3 {baseDir}/scripts/robot_cmd.py arm --side left --direction down
python3 {baseDir}/scripts/robot_cmd.py arm --side left --direction stop
python3 {baseDir}/scripts/robot_cmd.py arm --side right --direction up
python3 {baseDir}/scripts/robot_cmd.py arm --side right --direction stop

Reset position (Walle only):

python3 {baseDir}/scripts/robot_cmd.py reset --target all     # reset all
python3 {baseDir}/scripts/robot_cmd.py reset --target head    # reset head only
python3 {baseDir}/scripts/robot_cmd.py reset --target arm     # reset arms only

2. Fixed Actions (Mini only)

python3 {baseDir}/scripts/robot_cmd.py car_on          # 上车
python3 {baseDir}/scripts/robot_cmd.py car_off         # 下车
python3 {baseDir}/scripts/robot_cmd.py standup          # 站立
python3 {baseDir}/scripts/robot_cmd.py boot_off         # 收脚
python3 {baseDir}/scripts/robot_cmd.py boot_on          # 卡脚
python3 {baseDir}/scripts/robot_cmd.py hello            # 打招呼
python3 {baseDir}/scripts/robot_cmd.py hello_off        # 收手
python3 {baseDir}/scripts/robot_cmd.py head_up          # 抬头
python3 {baseDir}/scripts/robot_cmd.py head_down        # 回头 (低头)
python3 {baseDir}/scripts/robot_cmd.py charge           # 回充电桩
python3 {baseDir}/scripts/robot_cmd.py charge_stop      # 停止回充

3. Emergency Stop

python3 {baseDir}/scripts/robot_cmd.py stop             # 急停，停止所有移动和功能

4. Voice — TTS

# Play text on device speaker
python3 {baseDir}/scripts/robot_cmd.py tts --text "你好世界"

# Play text then close microphone (keep_silent=1)
python3 {baseDir}/scripts/robot_cmd.py tts --text "请安静" --keep-silent

5. Device Status & Preflight

# Pre-flight check (ALWAYS run this before any command)
python3 {baseDir}/scripts/robot_cmd.py preflight
# Returns: ready (bool), current_status, battery, is_charging, issues[], suggestion

# Get raw device status
python3 {baseDir}/scripts/robot_cmd.py status

Preflight response example (ready):

{
  "ready": true,
  "current_status": "idle",
  "current_status_name": "空闲",
  "battery": 85,
  "is_charging": false,
  "note": "Device is online and idle. Ready to accept commands."
}

Preflight response example (not ready):

{
  "ready": false,
  "current_status": "offline",
  "battery": -1,
  "issues": ["Device is OFFLINE — cannot accept commands"],
  "suggestion": "Device is OFFLINE — cannot accept commands"
}

6. Live Video

# Start push stream from device camera
python3 {baseDir}/scripts/robot_cmd.py live_push --status 1

# Stop push stream
python3 {baseDir}/scripts/robot_cmd.py live_push --status 0

# Get pull stream URL (HLS/RTMP)
python3 {baseDir}/scripts/robot_cmd.py live_pull_url

# Get push URL
python3 {baseDir}/scripts/robot_cmd.py live_push_url

7. ASR Result

# Get the robot's latest speech recognition result
python3 {baseDir}/scripts/robot_cmd.py asr_result

8. WiFi Configuration

# Configure robot WiFi (base64-encoded SSID and password)
python3 {baseDir}/scripts/robot_cmd.py wifi --ssid "MyWiFi" --password "12345678"

9. LLM Configuration (register your own model)

# Register a custom LLM
python3 {baseDir}/scripts/robot_cmd.py llm_register --name "My GPT" --base-url "https://api.openai.com/v1" --api-key "sk-xxx" --model "gpt-4"

# List registered LLMs
python3 {baseDir}/scripts/robot_cmd.py llm_list

# Update a registered LLM
python3 {baseDir}/scripts/robot_cmd.py llm_update --id 123 --model "gpt-4o"

10. Agent Configuration

# Create an agent with a registered LLM
python3 {baseDir}/scripts/robot_cmd.py agent_create --name "My Agent" --llm-id 123

# List agents
python3 {baseDir}/scripts/robot_cmd.py agent_list

# Update agent
python3 {baseDir}/scripts/robot_cmd.py agent_update --id 123 --name "New Name"

# Bind agent to a device
python3 {baseDir}/scripts/robot_cmd.py agent_bind --agent-id 123

# Query device's bound agent
python3 {baseDir}/scripts/robot_cmd.py agent_query

# Reset device to default JoyIn agent
python3 {baseDir}/scripts/robot_cmd.py agent_reset

Device Types

Type ID	Model	Codename	Key Capabilities
3	W-1 (Walle)	walle	Chassis + head + arm control, 8-direction joystick, position reset
2	M-1 (Mini)	mini	Chassis control, fixed body actions (standup/car/hello/head), charging

API Protocol

Base URL: https://api-open-test.joyin-ai.com (test)
Auth: All requests carry 3 headers — Authorization, Device-Sn, Device-Type-Id
Robot commands: POST /v1/device/interaction/cmd with body {"cmd_type":"...","status":"...","name":"...","data":{...}}
Response format: {"code": 200, "msg": "success", "data": {...}}

Important Notes

The device must be online for commands to work.
Joystick commands (move/head/arm) need to be sent continuously at ~100ms intervals. The robot stops automatically when commands stop arriving.
keep_silent=1 on TTS means the microphone will be closed after playback.
Some APIs (LLM config, Agent config) are marked as "开发中" and may not be fully available.

适合场景

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用户想查找某类 Agent Skill 时

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需要根据任务场景推荐可安装能力包时

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需要对比不同来源的安装命令和来源信息时

能力概览

能力 1

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能力 2

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能力 3

保留来源站点、仓库和原始说明，方便继续核验

能力 4

补充不同宿主或平台的使用分布数据

能力 5

展示第三方安全扫描或审计结果

安装后应在对应宿主中按原始 README 的触发条件使用；具体调用方式请以来源页面和 README 为准。

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敏感数据

该 Skill 可能接触密钥、Token、环境变量或敏感配置，应进入高风险复核队列，默认不自动发布。

安装前确认

本站仅展示第三方公开信息，不托管安装包，不提供自动安装或运行环境。安装前应自行审查源码、依赖和命令行为。当前只有一个来源，正式发布前建议补源仓库或其他目录站核验。

来源信息

GitHub 仓库

github.com

/yanfang724/joyin-robot-control

SKILL.md 来源

clawhub.ai

/yanfang724/joyin-robot-control

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