Arm control should be coming online today. This page is a start at documenting your interface to it.
The arm has 7 joints. We number those joints based on distance from the body. Joint number 0 is closest to the body, in the shoulder, and joint 6 is furthest from the body, at the wrist.
You will have limited control of these joints. We are enforcing fairly conservative limits on the joint ranges in order to avoid unfortunate accidents.
Commands to the arm