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Manipulate

Close Hand

  • Description: Close the robot's hand.

  • Args:

    • arm (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
  }
}

Grasp Any Object

  • 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_object"
  }
}

Grasp Object 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_object_with_left_hand"
  }
}

Grasp Object 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_object_with_right_hand"
  }
}

Drop On Deposit Any Handle

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

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

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

Drop On Deposit Handle With Left Hand

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

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

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

Drop On Deposit Handle With Right Hand

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

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

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

Grasp Object With Human

  • Description: Grasp a handle presented by a human.

  • Args:

    • rune (EnchantedObject): The object/handle rune to grasp.
    • arm (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": "grasp_object_with_human",
    "rune": rune,
    "arm": arm
  }
}

Drop Handle

  • Description: Drop a handle.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

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

Drop Everything

  • Description: Drop what the robot has on its hands.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

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

Open Hand Without Precondition

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

  • 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_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"
  }
}

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"
  }
}