| Move | location: string (required), motion_profile: string, approach_height: int32 | Moves the robot to a specified location |
| GraspPlate | width: int32, speed: int32, force: int32 | Grasps a plate with specified width, speed, and force |
| ReleasePlate | width: int32, speed: int32 | Releases the currently grasped plate |
| Transfer | source_nest: string (required), destination_nest: string (required), labware: string (required), motion_profile: string | Transfers labware from source to destination nest |
| Wait | duration: int32 | Waits for specified duration in milliseconds |
| RetrievePlate | labware: string (required), location: string (required), approach_height: float, motion_profile: string | Retrieves a plate from specified location |
| DropOffPlate | labware: string (required), location: string (required), approach_height: float, motion_profile: string | Drops off a plate at specified location |
| PickLid | labware: string (required), location: string (required), motion_profile: string, pick_from_plate: bool, approach_height: float | Picks up a lid from specified location |
| PlaceLid | labware: string (required), location: string (required), motion_profile: string, place_on_plate: bool, approach_height: float | Places a lid at specified location |
| Engage | - | Engages the gripper |
| Release | width: int32, speed: int32 | Releases gripper to specified width at speed |
| Unwind | - | Unwinds the robot arm |
| RunSequence | sequence_name: string, labware: string | Runs a predefined sequence with optional labware |
| GetCurrentLocation | - | Gets the current robot location |
| Jog | axis: string, distance: float | Jogs the robot along specified axis by distance |
| RawCommand | command: string | Sends a raw command to the robot controller |
| RegisterMotionProfile | id: int32, speed: float, speed2: float, accel: float, decel: float, accel_ramp: float, decel_ramp: float, inrange: float, straight: int32 | Registers a custom motion profile with specified parameters |
| LoadWaypoints | waypoints: google.protobuf.Struct | Loads waypoint definitions |
| LoadLabware | labwares: google.protobuf.Struct | Loads labware definitions |
