Manipulate

---

Close Hand

• Description: Close the robot's hand.

• Args:

  • hand (Hand): The hand to close (left or right).

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

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"
    }
  }
  

Drop

• Description: Drop the last object the robot grasped.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "drop",
      "object_to_drop": value
    }
  }
  

Drop from Hand

• Description: Drop what is in the robot's hand, knowingly opening the hand.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "drop_from_hand",
      "hand": value
    }
  }
  

Open Hand

• Description: Open the robot's hand, if it is safe to do so.

• Args:

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

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Open Both Hands

• Description: Open the robot's hands, if it is safe to do so.

• 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:

  • hand (Hand): 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",
      "hand": value
    }
  }
  

Put Object In Front

• Description: Put an object in front of the robot.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Take Object In Front

• Description: Take an object in front of the robot.

• Args:

  • hand (Optional[Hand]): The hand to use for taking the object.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "take_object_in_front",
      "hand": value
    }
  }
  

• JSON Example:

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

Grasp Any Handle

• Description: Grasp the handle in front of the robot.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Grasp Handle With Left Hand

• Description: Grasp the handle in front of the robot with left hand.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Grasp Handle With Right Hand

• Description: Grasp the handle in front of the robot with right hand.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Grasp Handle With Human

• Description: Grasp a handle presented by a human.

• Args:

  • rune (EnchantedObject): The rune object representing the handle to grasp.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Drop Known Handle

• Description: Drop known handle based on its label.

• Args:

  • rune_label: (str): The label associated with the handle's rune.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "drop_known_handle",
      "rune_label": rune_label
    }
  }