MANUSH Manipulation

Role (Doc B §12): Hands, arms and tools.

MANUSH Manipulation covers grasping, dexterous manipulation, tool use and human handover.

Responsibilities

• Grasp planning for rigid, deformable and transparent objects.
• Two-handed and precision manipulation with force feedback and tactile sensing.
• Tool use with authorised tools only (SafeCore tool authorization).
• Object transfer and safe human handover.

Building on Manipulation

Declare every tool your skill actuates in safecore_permissions.tools (for example torque_wrench, mig_torch, vacuum_gripper). Undeclared tools are refused at run time. Only robots with hands or an arm — H1–H5 and A1–A3 — can run skills that declare the manipulation module. In the Sandbox, pick and place simulate manipulation and are rejected on bodies without a manipulator.