Sagittarius Arm Control

If the backend is not ready and the user wants you to bring it up, use:

~/.openclaw/workspace/skills/sagittarius-arm-control/scripts/arm_backend.sh

This launches the bridge with the camera settings currently known to work on this machine.

If a command fails because the bridge service is missing or the backend is not ready, retry with the ~/team2 workspace only:

source /opt/ros/noetic/setup.bash
source ~/team2/devel/setup.bash
roslaunch sagittarius_openclaw_bridge openclaw_backend.launch

Do not switch workspaces while recovering. Stay on ~/team2.

Command selection

Prefer high-level commands first:

• Use status for health checks.
• Use search to move to the observation pose.
• Use detect-color when the task is to inspect or localize without grasping.
• Use pick-any when the user wants any visible block.
• Use pick-once --color <color> when the user wants a specific color grasped and held.
• Use pick-and-place when the user describes a full pick then place task.
• Use classify-once-fixed for one-shot fixed-bin sorting.
• Use sort-all-fixed for repeated fixed-bin sorting until nothing remains.
• Use classify-once-map when the map drop areas are visible and the task is map-based sorting.

Only use low-level move, pick, or put when the user gives explicit coordinates or asks for manual positioning.

Natural-language mapping

• "Look around" or "go to observation pose" -> search
• "What color block do you see?" -> detect-color
• "Grab the blue block" -> pick-once --color blue
• "Grab any block" -> pick-any
• "Pick the blue block and place it at x/y/z" -> pick-and-place --color blue --x ... --y ... --z ... --pitch 1.57 --use-rpy
• "Sort the table" -> sort-all-fixed
• "Sort one object by the map layout" -> classify-once-map

Command reference

Read the output and reuse it in the conversation. detected_color and target_xyz are often useful follow-up context.

~/.openclaw/workspace/skills/sagittarius-arm-control/scripts/arm_cmd.sh status
~/.openclaw/workspace/skills/sagittarius-arm-control/scripts/arm_cmd.sh search
~/.openclaw/workspace/skills/sagittarius-arm-control/scripts/arm_cmd.sh detect-color --color blue
~/.openclaw/workspace/skills/sagittarius-arm-control/scripts/arm_cmd.sh detect-color
~/.openclaw/workspace/skills/sagittarius-arm-control/scripts/arm_cmd.sh pick-once --color blue
~/.openclaw/workspace/skills/sagittarius-arm-control/scripts/arm_cmd.sh pick-any
~/.openclaw/workspace/skills/sagittarius-arm-control/scripts/arm_cmd.sh pick-and-place --color blue --x 0.16 --y 0.24 --z 0.20 --pitch 1.57 --use-rpy
~/.openclaw/workspace/skills/sagittarius-arm-control/scripts/arm_cmd.sh classify-once-fixed
~/.openclaw/workspace/skills/sagittarius-arm-control/scripts/arm_cmd.sh sort-all-fixed
~/.openclaw/workspace/skills/sagittarius-arm-control/scripts/arm_cmd.sh classify-once-map
~/.openclaw/workspace/skills/sagittarius-arm-control/scripts/arm_cmd.sh move --x 0.20 --y 0.00 --z 0.15 --pitch 1.57 --use-rpy
~/.openclaw/workspace/skills/sagittarius-arm-control/scripts/arm_cmd.sh pick --x 0.24 --y 0.00 --z 0.02 --pitch 1.57 --use-rpy
~/.openclaw/workspace/skills/sagittarius-arm-control/scripts/arm_cmd.sh put --x 0.16 --y 0.24 --z 0.20
~/.openclaw/workspace/skills/sagittarius-arm-control/scripts/arm_cmd.sh stay
~/.openclaw/workspace/skills/sagittarius-arm-control/scripts/arm_cmd.sh sleep

Decision rules

• Start with status unless the user already confirmed the backend is running.
• For color tasks, prefer high-level commands over raw motion.
• For repeated sorting, use sort-all-fixed instead of manually chaining pick-once and put.
• Use pick-and-place instead of separate pick-once and put when the user describes one closed-loop task.
• If a command fails because no stable object was found, tell the user it is a vision issue rather than pretending motion failed.
• If a command fails because readiness is false, report which subsystem is failing and suggest ~/.openclaw/workspace/skills/sagittarius-arm-control/scripts/arm_backend.sh or the manual ~/team2 backend launch commands above.
• If the bridge service is missing, retry recovery with ~/team2 before doing anything else.

Safety

• This skill controls real hardware. Avoid improvising arbitrary coordinates unless the user explicitly asks for manual positioning.
• For ambiguous physical requests, prefer search, status, and detect-color before moving.
• If the user requests a risky or unclear motion near people or obstacles, pause and ask for confirmation.