Programming AMR Robot without process modeling


I am seeking assistance in programming the MIR 250 robot without relying on process modeling. I have attempted to use Python action script; however, it does not recognize the AMR as a robot with servo capabilities. I would like to know how I can program the AMR to perform basic tasks such as moving forward and backward, as well as loading and unloading, without utilizing process modeling.

Thank you for your expertise and guidance in this matter