07 — Scene, frames, and geometry

This case reads planning data without exposing a simulator-native handle: filtered scene state, a frame transform, geometry capabilities, catalog, transforms, and one immutable collision-mesh resource.

Verification level

Public planning-read vertical slice. The server must be launched with --planning-reads. The client verifies the scoped resource route accepts a geometry ID containing /, accepts a standard byte Range, and writes the returned bytes to output/geometry.bin.

Run it

Terminal A:

bash

cd demo/server/07_scene_frames_and_geometry
fastsim config validate run.yaml --json
fastsim-server run.yaml --planning-reads

Terminal B:

bash

cd demo/server/07_scene_frames_and_geometry
python main.py

Scene and geometry filters use repeated query parameters and form an intersection. The three catalog routes use bounded offset=0&limit=25 pages and publish total and next-offset metadata. Catalog JSON contains identities and metadata, never a large mesh buffer. The program selects one resource-backed collision entry and requests Range: bytes=-65536 through the complete geometry ID. A valid response is 206 with Accept-Ranges: bytes and Content-Range.

The HTTP response never reveals a provider locator, lease token, native handle, or local path. The server closes its scoped FastSim resource lease on success and error. If the Run was launched without planning reads, the public FastSim facade fails closed; restart terminal A with the required option.

Next: 08 — Camera RGB and PNG.