Commands Grasping

Total endpoints: 18 Example base URL: https://<ROBOT_IP>/rest Required access for this section: USER

Add Client Animation

• Endpoint: /api/v2/commands/add_client_animation/
• Function: Execute the add_client_animation command through the v2 command bridge.
• Method: POST
• Parameters:
• payload (body, DictValuePayload)
• Shell Command:

curl -X POST "https://<ROBOT_IP>/rest/api/v2/commands/add_client_animation/" \
  -H "Authorization: Bearer <token>" \
  -H "Content-Type: application/json" \
  -d '{"value": {"key": "value"}}'

• Python Command:

import requests

url = "https://<ROBOT_IP>/rest/api/v2/commands/add_client_animation/"
headers = {"Authorization": "Bearer <token>"}
json_payload = {'value': {'key': 'value'}}
response = requests.post(url, headers=headers, json=json_payload, timeout=10)

print(response.status_code)
print(response.json())

• Response Example (200):

{
  "command": {
    "command": "add_client_animation",
    "value": {
      "key": "value"
    }
  },
  "result": "value"
}

Note: Payload depends on the executed command.

Delete Client Animation

• Endpoint: /api/v2/commands/delete_client_animation/
• Function: Execute the delete_client_animation command through the v2 command bridge.
• Method: POST
• Parameters:
• payload (body, StrValuePayload)
• Shell Command:

curl -X POST "https://<ROBOT_IP>/rest/api/v2/commands/delete_client_animation/" \
  -H "Authorization: Bearer <token>" \
  -H "Content-Type: application/json" \
  -d '{"value": "example"}'

• Python Command:

import requests

url = "https://<ROBOT_IP>/rest/api/v2/commands/delete_client_animation/"
headers = {"Authorization": "Bearer <token>"}
json_payload = {'value': 'example'}
response = requests.post(url, headers=headers, json=json_payload, timeout=10)

print(response.status_code)
print(response.json())

• Response Example (200):

{
  "command": {
    "command": "delete_client_animation",
    "value": "example"
  },
  "result": "value"
}

Note: Payload depends on the executed command.

Discard Last Episode

• Endpoint: /api/v2/commands/discard_last_episode/
• Function: Execute the discard_last_episode command through the v2 command bridge.
• Method: POST
• Parameters: none
• Shell Command:

curl -X POST "https://<ROBOT_IP>/rest/api/v2/commands/discard_last_episode/" \
  -H "Authorization: Bearer <token>"

• Python Command:

import requests

url = "https://<ROBOT_IP>/rest/api/v2/commands/discard_last_episode/"
headers = {"Authorization": "Bearer <token>"}
response = requests.post(url, headers=headers, timeout=10)

print(response.status_code)
print(response.json())

• Response Example (200):

{
  "command": {
    "command": "discard_last_episode"
  },
  "result": "value"
}

Note: Payload depends on the executed command.

Exit Arms Collision

• Endpoint: /api/v2/commands/exit_arms_collision/
• Function: Execute the exit_arms_collision command through the v2 command bridge.
• Method: POST
• Parameters: none
• Shell Command:

curl -X POST "https://<ROBOT_IP>/rest/api/v2/commands/exit_arms_collision/" \
  -H "Authorization: Bearer <token>"

• Python Command:

import requests

url = "https://<ROBOT_IP>/rest/api/v2/commands/exit_arms_collision/"
headers = {"Authorization": "Bearer <token>"}
response = requests.post(url, headers=headers, timeout=10)

print(response.status_code)
print(response.json())

• Response Example (200):

{
  "command": {
    "command": "exit_arms_collision"
  },
  "result": "value"
}

Note: Payload depends on the executed command.

Get Auto Hand Choice

• Endpoint: /api/v2/commands/get_auto_hand_choice/
• Function: Execute the get_auto_hand_choice command through the v2 command bridge.
• Method: GET
• Parameters: none
• Shell Command:

curl -L "https://<ROBOT_IP>/rest/api/v2/commands/get_auto_hand_choice/" \
  -H "Authorization: Bearer <token>"

• Python Command:

import requests

url = "https://<ROBOT_IP>/rest/api/v2/commands/get_auto_hand_choice/"
headers = {"Authorization": "Bearer <token>"}
response = requests.get(url, headers=headers, timeout=10)

print(response.status_code)
print(response.json())

• Response Example (200):

{
  "command": {
    "command": "get_auto_hand_choice"
  },
  "result": "value"
}

Note: Payload depends on the executed command.

Get Chain For Task

• Endpoint: /api/v2/commands/get_chain_for_task/
• Function: Execute the get_chain_for_task command through the v2 command bridge.
• Method: GET
• Parameters: none
• Shell Command:

curl -L "https://<ROBOT_IP>/rest/api/v2/commands/get_chain_for_task/" \
  -H "Authorization: Bearer <token>"

• Python Command:

import requests

url = "https://<ROBOT_IP>/rest/api/v2/commands/get_chain_for_task/"
headers = {"Authorization": "Bearer <token>"}
response = requests.get(url, headers=headers, timeout=10)

print(response.status_code)
print(response.json())

• Response Example (200):

{
  "command": {
    "command": "get_chain_for_task"
  },
  "result": "value"
}

Note: Payload depends on the executed command.

Get Client Animation

• Endpoint: /api/v2/commands/get_client_animation/
• Function: Execute the get_client_animation command through the v2 command bridge.
• Method: POST
• Parameters:
• payload (body, StrValuePayload)
• Shell Command:

curl -X POST "https://<ROBOT_IP>/rest/api/v2/commands/get_client_animation/" \
  -H "Authorization: Bearer <token>" \
  -H "Content-Type: application/json" \
  -d '{"value": "example"}'

• Python Command:

import requests

url = "https://<ROBOT_IP>/rest/api/v2/commands/get_client_animation/"
headers = {"Authorization": "Bearer <token>"}
json_payload = {'value': 'example'}
response = requests.post(url, headers=headers, json=json_payload, timeout=10)

print(response.status_code)
print(response.json())

• Response Example (200):

{
  "command": {
    "command": "get_client_animation",
    "value": "example"
  },
  "result": "value"
}

Note: Payload depends on the executed command.

Get Client Animation List

• Endpoint: /api/v2/commands/get_client_animation_list/
• Function: Execute the get_client_animation_list command through the v2 command bridge.
• Method: GET
• Parameters: none
• Shell Command:

curl -L "https://<ROBOT_IP>/rest/api/v2/commands/get_client_animation_list/" \
  -H "Authorization: Bearer <token>"

• Python Command:

import requests

url = "https://<ROBOT_IP>/rest/api/v2/commands/get_client_animation_list/"
headers = {"Authorization": "Bearer <token>"}
response = requests.get(url, headers=headers, timeout=10)

print(response.status_code)
print(response.json())

• Response Example (200):

{
  "command": {
    "command": "get_client_animation_list"
  },
  "result": "value"
}

Note: Payload depends on the executed command.

Is Animation Name Available

• Endpoint: /api/v2/commands/is_animation_name_available/
• Function: Execute the is_animation_name_available command through the v2 command bridge.
• Method: POST
• Parameters:
• payload (body, StrValuePayload)
• Shell Command:

curl -X POST "https://<ROBOT_IP>/rest/api/v2/commands/is_animation_name_available/" \
  -H "Authorization: Bearer <token>" \
  -H "Content-Type: application/json" \
  -d '{"value": "example"}'

• Python Command:

import requests

url = "https://<ROBOT_IP>/rest/api/v2/commands/is_animation_name_available/"
headers = {"Authorization": "Bearer <token>"}
json_payload = {'value': 'example'}
response = requests.post(url, headers=headers, json=json_payload, timeout=10)

print(response.status_code)
print(response.json())

• Response Example (200):

{
  "command": {
    "command": "is_animation_name_available",
    "value": "example"
  },
  "result": "value"
}

Note: Payload depends on the executed command.

Set Activation Openloop

• Endpoint: /api/v2/commands/set_activation_openloop/
• Function: Execute the set_activation_openloop command through the v2 command bridge.
• Method: POST
• Parameters:
• payload (body, BoolValuePayload)
• Shell Command:

curl -X POST "https://<ROBOT_IP>/rest/api/v2/commands/set_activation_openloop/" \
  -H "Authorization: Bearer <token>" \
  -H "Content-Type: application/json" \
  -d '{"value": true}'

• Python Command:

import requests

url = "https://<ROBOT_IP>/rest/api/v2/commands/set_activation_openloop/"
headers = {"Authorization": "Bearer <token>"}
json_payload = {'value': True}
response = requests.post(url, headers=headers, json=json_payload, timeout=10)

print(response.status_code)
print(response.json())

• Response Example (200):

{
  "command": {
    "command": "set_activation_openloop",
    "value": true
  },
  "result": "value"
}

Note: Payload depends on the executed command.

Set Auto Hand Choice

• Endpoint: /api/v2/commands/set_auto_hand_choice/
• Function: Execute the set_auto_hand_choice command through the v2 command bridge.
• Method: POST
• Parameters:
• payload (body, BoolValuePayload)
• Shell Command:

curl -X POST "https://<ROBOT_IP>/rest/api/v2/commands/set_auto_hand_choice/" \
  -H "Authorization: Bearer <token>" \
  -H "Content-Type: application/json" \
  -d '{"value": true}'

• Python Command:

import requests

url = "https://<ROBOT_IP>/rest/api/v2/commands/set_auto_hand_choice/"
headers = {"Authorization": "Bearer <token>"}
json_payload = {'value': True}
response = requests.post(url, headers=headers, json=json_payload, timeout=10)

print(response.status_code)
print(response.json())

• Response Example (200):

{
  "command": {
    "command": "set_auto_hand_choice",
    "value": true
  },
  "result": "value"
}

Note: Payload depends on the executed command.

Set Grasp Side

• Endpoint: /api/v2/commands/set_grasp_side/
• Function: Execute the set_grasp_side command through the v2 command bridge.
• Method: POST
• Parameters:
• payload (body, StrValuePayload)
• Shell Command:

curl -X POST "https://<ROBOT_IP>/rest/api/v2/commands/set_grasp_side/" \
  -H "Authorization: Bearer <token>" \
  -H "Content-Type: application/json" \
  -d '{"value": "example"}'

• Python Command:

import requests

url = "https://<ROBOT_IP>/rest/api/v2/commands/set_grasp_side/"
headers = {"Authorization": "Bearer <token>"}
json_payload = {'value': 'example'}
response = requests.post(url, headers=headers, json=json_payload, timeout=10)

print(response.status_code)
print(response.json())

• Response Example (200):

{
  "command": {
    "command": "set_grasp_side",
    "value": "example"
  },
  "result": "value"
}

Note: Payload depends on the executed command.

Set Impedance Level

• Endpoint: /api/v2/commands/set_impedance_level/
• Function: Execute the set_impedance_level command through the v2 command bridge.
• Method: POST
• Parameters:
• payload (body, FloatValuePayload)
• Shell Command:

curl -X POST "https://<ROBOT_IP>/rest/api/v2/commands/set_impedance_level/" \
  -H "Authorization: Bearer <token>" \
  -H "Content-Type: application/json" \
  -d '{"value": 1.0}'

• Python Command:

import requests

url = "https://<ROBOT_IP>/rest/api/v2/commands/set_impedance_level/"
headers = {"Authorization": "Bearer <token>"}
json_payload = {'value': 1.0}
response = requests.post(url, headers=headers, json=json_payload, timeout=10)

print(response.status_code)
print(response.json())

• Response Example (200):

{
  "command": {
    "command": "set_impedance_level",
    "value": 1.0
  },
  "result": "value"
}

Note: Payload depends on the executed command.

Set Wizard Hand Priority

• Endpoint: /api/v2/commands/set_wizard_hand_priority/
• Function: Execute the set_wizard_hand_priority command through the v2 command bridge.
• Method: POST
• Parameters:
• payload (body, BoolValuePayload)
• Shell Command:

curl -X POST "https://<ROBOT_IP>/rest/api/v2/commands/set_wizard_hand_priority/" \
  -H "Authorization: Bearer <token>" \
  -H "Content-Type: application/json" \
  -d '{"value": true}'

• Python Command:

import requests

url = "https://<ROBOT_IP>/rest/api/v2/commands/set_wizard_hand_priority/"
headers = {"Authorization": "Bearer <token>"}
json_payload = {'value': True}
response = requests.post(url, headers=headers, json=json_payload, timeout=10)

print(response.status_code)
print(response.json())

• Response Example (200):

{
  "command": {
    "command": "set_wizard_hand_priority",
    "value": true
  },
  "result": "value"
}

Note: Payload depends on the executed command.

Set World Frame Control Flag

• Endpoint: /api/v2/commands/set_world_frame_control_flag/
• Function: Execute the set_world_frame_control_flag command through the v2 command bridge.
• Method: POST
• Parameters:
• payload (body, BoolValuePayload)
• Shell Command:

curl -X POST "https://<ROBOT_IP>/rest/api/v2/commands/set_world_frame_control_flag/" \
  -H "Authorization: Bearer <token>" \
  -H "Content-Type: application/json" \
  -d '{"value": true}'

• Python Command:

import requests

url = "https://<ROBOT_IP>/rest/api/v2/commands/set_world_frame_control_flag/"
headers = {"Authorization": "Bearer <token>"}
json_payload = {'value': True}
response = requests.post(url, headers=headers, json=json_payload, timeout=10)

print(response.status_code)
print(response.json())

• Response Example (200):

{
  "command": {
    "command": "set_world_frame_control_flag",
    "value": true
  },
  "result": "value"
}

Note: Payload depends on the executed command.

Start Episode Recording

• Endpoint: /api/v2/commands/start_episode_recording/
• Function: Execute the start_episode_recording command through the v2 command bridge.
• Method: POST
• Parameters: none
• Shell Command:

curl -X POST "https://<ROBOT_IP>/rest/api/v2/commands/start_episode_recording/" \
  -H "Authorization: Bearer <token>"

• Python Command:

import requests

url = "https://<ROBOT_IP>/rest/api/v2/commands/start_episode_recording/"
headers = {"Authorization": "Bearer <token>"}
response = requests.post(url, headers=headers, timeout=10)

print(response.status_code)
print(response.json())

• Response Example (200):

{
  "command": {
    "command": "start_episode_recording"
  },
  "result": "value"
}

Note: Payload depends on the executed command.

Trigger Torque Sensor Check

• Endpoint: /api/v2/commands/trigger_torque_sensor_check/
• Function: Execute the trigger_torque_sensor_check command through the v2 command bridge.
• Method: POST
• Parameters: none
• Shell Command:

curl -X POST "https://<ROBOT_IP>/rest/api/v2/commands/trigger_torque_sensor_check/" \
  -H "Authorization: Bearer <token>"

• Python Command:

import requests

url = "https://<ROBOT_IP>/rest/api/v2/commands/trigger_torque_sensor_check/"
headers = {"Authorization": "Bearer <token>"}
response = requests.post(url, headers=headers, timeout=10)

print(response.status_code)
print(response.json())

• Response Example (200):

{
  "command": {
    "command": "trigger_torque_sensor_check"
  },
  "result": "value"
}

Note: Payload depends on the executed command.

Wizard Has Hand Priority

• Endpoint: /api/v2/commands/wizard_has_hand_priority/
• Function: Execute the wizard_has_hand_priority command through the v2 command bridge.
• Method: GET
• Parameters: none
• Shell Command:

curl -L "https://<ROBOT_IP>/rest/api/v2/commands/wizard_has_hand_priority/" \
  -H "Authorization: Bearer <token>"

• Python Command:

import requests

url = "https://<ROBOT_IP>/rest/api/v2/commands/wizard_has_hand_priority/"
headers = {"Authorization": "Bearer <token>"}
response = requests.get(url, headers=headers, timeout=10)

print(response.status_code)
print(response.json())

• Response Example (200):

{
  "command": {
    "command": "wizard_has_hand_priority"
  },
  "result": "value"
}

Note: Payload depends on the executed command.