Manipulate

---

Drop Tray

• Description: Drop the tray the robot is holding.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Grasp Cart

• Description: Grasp a cart.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Grasp Tray

• Description: Grasp a tray.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Grasp Known Handle

• Description: Grasp a known handle using a specified hand.

• Args:

  • rune (EnchantedObject): The enchanted rune representing the handle.
  • hand (Optional[Hand]): The hand to use for grasping. If None, the robot selects the hand automatically.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "grasp_known_handle",
      "rune": value,
      "hand": hand
    }
  }
  

• JSON Example:

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

Grasp Known Handle With Left Hand

• Description: Grasp the handle with left hand, based on its rune name.

• Args:

  • rune: (EnchantedObject): The rune associated with the handle.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Grasp Known Handle With Right Hand

• Description: Grasp the handle with right hand, based on its rune name.

• Args:

  • rune: (EnchantedObject): The rune associated with the handle.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Drop On Deposit Known Handle

• Description: drop a known handle using a specified hand.

• Args:

  • rune (EnchantedObject): The enchanted rune representing the handle.
  • hand (Optional[Hand]): The hand to use for dropping. If None, the robot selects the hand automatically.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "drop_on_deposit_known_handle",
      "rune": value,
      "hand": hand
    }
  }
  

• JSON Example:

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

Drop On Deposit Known Handle With Left Hand

• Description: drop the handle with left hand, based on its rune name.

• Args:

  • rune: (EnchantedObject): The rune associated with the handle.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Drop On Deposit Known Handle With Right Hand

• Description: drop the handle with right hand, based on its rune name.

• Args:

  • rune: (EnchantedObject): The rune associated with the handle.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Grasp And Drop Loop

• Description: Grasp and drop in loop and stop at 10 or when failed.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Grasp Bubble

• Description: Grasp the bubble-handle.

• Args:

  • side: (int): The chosen arm.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Set Joint Control Mode

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

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

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

Set World Frame Control Flag

• Description: Enable or disable world frame control.

• Endpoint: /api/v1/dict/

• Type of Argument: Dict

• JSON Example:

  {
    "command": "skill",
    "value": {
      "name": "set_world_frame_control_flag",
      "enable": enable
    }
  }