commands.call_service calls a service the role reaches and waits for its
result. commands.start_action starts an action and returns its result or a
running job. commands.publish sends one message to a publisher the role
reaches, never a stream.
commands.cancel_job asks the action server to cancel; its verdict may refuse
the cancellation, and a timeout does not prove the action stopped.
jobs.list shows current jobs; its history option needs the role’s
job_history capability. jobs.get reads one job.
Use docs.describe for the exact fields, conditions, refusal codes and example call of each
action. The role and robot state are checked at call time.
AI agents can make mistakes. Supervise every motion and keep a way to stop the robot at once. Read the Safety notice.