horizonrobotics Arm Skill
Use this skill for predefined arm actions.
Preferred Interfaces
HTTP:
POST /api/arm/{skill}
ROS topic:
arm_signal_pub
Workflow
- Confirm the requested arm action name and target robot are explicit.
- Check that the robot service or ROS interface for arm control is available.
- Prefer a predefined arm skill such as
release_arm,high_five,shake_hand, or another documented action. - Trigger the action through the documented HTTP or ROS interface.
- Observe the response and report success, failure, or the need for clarification.
Safety Rules
- Confirm the requested arm action is explicit and safe before execution.
- Prefer predefined skill names instead of free-form motion generation.
- Do not expose FIFO internals to the user.
- Do not trigger arm motion when the workspace, nearby people, or collision risk is unclear.
- Remember that the arm automatically executes
release_armafter a gesture for safety. - Respect FSM constraints for arm actions and check robot state when needed.
Example
See assets/arm_examples.sh.