Manipulate

---

Close Hand

• Description: Close the robot's hand.

• Args:

  • arm (Arm | list[Arm]): The hand to close (left or right).

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "close_hand",
      "arm": arm
    }
  }
  

Close Both Hands

• Description: Close the robot's hands.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "close_both_hands"
    }
  }
  

Open Hand

• Description: Open the robot's hand.

• Args:

  • arm (Arm): The hand to open (left or right).

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "open_hand",
      "arm": arm
    }
  }
  

Open Both Hands

• Description: Open the robot's hands.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "open_both_hands"
    }
  }
  

Open Hand Half

• Description: Open the robot's hand halfway.

• Args:

  • arm (Arm): The hand to open halfway (left or right).

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "open_hand_half",
      "arm": arm
    }
  }
  

Receive Object

• Description: Grasp an object presented by a human.

• Args:

  • rune (EnchantedObject): The object rune to grasp.
  • arm (Arm | list[Arm] | None): Preferred arm to use (Arm.LEFT / Arm.RIGHT). If None,

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "receive_object",
      "rune": rune,
      "arm": arm
    }
  }
  

Give Object

• Description: Give the object to a human.

• Args:

  • rune (EnchantedObject): The object rune to give.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "give_object",
      "rune": rune
    }
  }
  

Open Hand Without Precondition

• Description: Open the robot's hand without precondition.

• Args:

  • arm (Arm | list[Arm]): The hand to open (left or right or both).

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "open_hand_without_precondition",
      "arm": arm
    }
  }
  

Open Both Hands Without Precondition

• Description: Open the robot's hands without precondition.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "open_both_hands_without_precondition"
    }
  }
  

Set Joint Control Mode

• Description: Change the joint control mode (position, impedance).

• Args:

  • control_mode (str):

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "set_joint_control_mode",
      "control_mode": control_mode
    }
  }