manipulation-stack

name	manipulation_stack
description	Use the manipulation stack for grasping and for the combined pick-object pipeline.

Manipulation Stack

The manipulation stack lives at http://localhost:8787 unless CAPABILITY_SERVER_URL says otherwise.

Pick a grounded object directly

curl -s -X POST http://localhost:8787/manipulation/pick \
  -H 'Content-Type: application/json' \
  -d '{"object_id":"apple-green-01","action":"pick"}'

Pick using an explicit perceived pose

curl -s -X POST http://localhost:8787/manipulation/pick \
  -H 'Content-Type: application/json' \
  -d '{"object_id":"apple-green-01","pose":{"x":2.78,"y":1.08,"z":0.79,"frame":"map"},"action":"pick"}'

Run the full pick-object pipeline

curl -s -X POST http://localhost:8787/mission/pick_object \
  -H 'Content-Type: application/json' \
  -d '{"object_label":"apple","color":"green","support_surface":"table"}'

Usage notes

• The combined mission endpoint assumes a saved map is already loaded and localization is ready.
• If the mission is blocked, call the navigation stack first to load a map and localize.
• POST /manipulation/pick can now consume either an explicit object pose or a precomputed grasp_candidate.
• For object pick tasks, prefer the combined mission endpoint unless you already have a high-confidence object pose and approach pose.