standard_api/v1 — 18 documented operations

This is an operation reference, not an executable program or a recorded trace.
Arguments marked “...” stand for documented options in the active API contract.

PUBLIC PERCEPTION · 8

api.get_scene_image()
api.get_topdown_image()
api.get_wrist_view(arm, ...)
api.get_topdown_stereo_view(...)
api.get_foundation_stereo_depth(left_image_path, right_image_path, ...)
api.get_sam_mask_from_box(image_path, box_xyxy)
api.measure_visible_geometry(mask_path, depth_path, intrinsics_path, ...)
api.get_topdown_object_candidates(...)

STATE & POSE CONSTRUCTION · 6

api.preprocess(...)
api.get_observation_geometry(...)
api.get_previous_proposer_state()
api.grasp_center_to_tool0_pose(grasp_center_xyz, ...)
api.compile_pose(mode, request)
api.get_end_effector_pose(arm)

ROBOT CONTROL · 4

api.gohome(...)
api.goto_pose(arm, position_xyz, orientation_xyzw, ...)
api.gripper_goto(arm, opening_width_m, ...)
api.goto_pose_both(position0, quaternion_xyzw0, position1, quaternion_xyzw1, ...)

EXECUTION BOUNDARY

The documented Proposer contract asks for a program defining main(api),
returning one dictionary, without module imports. The Proposer selects the
calls and their arguments from current public evidence and skill text.

Positions and openings use meters; motion quaternions use XYZW. Pose compilation
does not execute motion. Inspect native results before dependent actions and
fresh public observations to assess the physical effect.

The 18-operation specification does not reconstruct every historical run.
Recorded code using an older interface cannot be relabeled as this interface
without a verified implementation and execution record.

Source: paper appendix Shared Robot API and Execution Contract, and the
documented Proposer interface contract.
