# Actions

### Action Plugins

The Action Plugins are core components of OM1. These plugins map high-level decisions from one or more LLMs into concrete physical or digital actions (e.g. moving a robot or generating speech). This page covers the architecture of a typical Action Plugin, the available action types, and how actions are connected to different hardware and software platforms.

[**Code**](https://github.com/OpenMind/OM1/tree/main/src/actions)

### Action Orchestrator

The Action Orchestrator is the central component that orchestrates the execution of actions. It manages the states, promise queue, and threads for each action.

[**Code**](https://github.com/OpenMind/OM1/blob/main/src/actions/orchestrator.py)

### Movement (Zenoh)

This plugin is an example of how to use Zenoh to send movement commands to a [TurtleBot 4](https://github.com/OpenMind/OM1/tree/main/src/actions/move_turtle/connector/zenoh.py).

### Movement (Unitree SDK)

This plugin is an example of how to directly connect to the Unitree python SDK to send movement commands to a [Go2 EDU](https://github.com/OpenMind/OM1/tree/main/src/actions/move_go2_autonomy/connector/unitree_rplidar_sdk.py).

### Speech and TTS

The Speech and TTS action plugin allows agents to speak using a text-to-speech (TTS) system.

[**Code**](https://github.com/OpenMind/OM1/blob/main/src/actions/speak/connector/elevenlabs_tts.py)

### Adding New Actions

Each action consists of:

1. Interface (`interface.py`): Defines input/output types.
2. Implementation (`implementation/`): Business logic, if any. Otherwise, use passthrough.
3. Connector (`connector/`): Code that connects `OM1` to specific virtual or physical environments, typically through middleware (e.g. custom APIs, `ROS2`, `Zenoh`, or `CycloneDDS`)

```tree
actions/
├── move_{unique_hardware_id}/
│   ├── interface.py      # Defines MoveInput/Output
│   ├── implementation/
│   │   └── passthrough.py
│   └── connector/
│       ├── ros2.py       # Maps OM1 data/commands to hardware layers and robot middleware
│       ├── zenoh.py
│       └── unitree.py
└── orchestrator
```

In general, each robot will have specific capabilities, and therefore, each action will be hardware specific. For example, if you are adding support for the Unitree G1 Humanoid version 13.2b, which supports a new movement subtype such as `dance_2`, you could name the updated action `move_unitree_g1_13_2b` and select that action in your `unitree_g1.json` configuration file.


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://docs.openmind.com/core-concepts/concepts/6_actions.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.