> ## Documentation Index
> Fetch the complete documentation index at: https://docs.cyberwave.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Arm commands

> Standard end-effector, gripper, and base commands for robotic arms

Robotic-arm twins expose a standard command vocabulary via `twin.commands` (and
grouped handles like `twin.gripper`). Availability depends on the robot.

| Command                                  | Args                                                            | Description                                         |
| ---------------------------------------- | --------------------------------------------------------------- | --------------------------------------------------- |
| `ee_move`                                | `forward`, `up`, `left` (m), `frame` (`tool`\|`base`)           | Translate the end-effector.                         |
| `ee_rotate_left` / `ee_rotate_right`     | `angle` (rad)                                                   | Yaw the end-effector.                               |
| `ee_rotate_up` / `ee_rotate_down`        | `angle` (rad)                                                   | Pitch the end-effector.                             |
| `base_rotate_left` / `base_rotate_right` | `angle` (rad)                                                   | Rotate the base joint.                              |
| `grip`                                   | `force` (0–1)                                                   | Close the gripper. Also `twin.gripper.grip(force)`. |
| `release`                                | —                                                               | Open the gripper. Also `twin.gripper.release()`.    |
| `home`                                   | —                                                               | Return to the home pose.                            |
| `ee_pose`                                | `pose` — 6-element array `[x, y, z, roll, pitch, yaw]` (m, rad) | Move the end-effector to an absolute pose.          |

```python theme={null}
twin.commands.ee_move(forward=0.05)
twin.commands.ee_pose(pose=[0.3, 0.0, 0.4, 0.0, 1.57, 0.0])
twin.commands.grip(force=1.0)
twin.commands.release()
twin.commands.home()
```

Dual-arm robots (one twin, two end-effectors) expose the same commands prefixed
per arm — `left_ee_move`, `right_grip`, `left_ee_pose`, … — plus a conjunct
`home` that returns both arms.