04 — State and control targets

This case starts the Run, reads one coherent World/Observation envelope, discovers portable control targets, and inspects the current control state.

Verification level

Visible native Isaac state and descriptor read. No backend-native object crosses HTTP. The response contains only FastSim's public, backend-neutral values.

Run it

Terminal A:

bash

cd demo/server/04_state_and_control_targets
fastsim config validate run.yaml --json
fastsim-server run.yaml

Terminal B:

bash

cd demo/server/04_state_and_control_targets
python main.py

/api/v1/state couples World and Observation at one generation and simulation tick. control/targets is how a generic client learns the binding role, entity, resource group, axes, units, controller, command space, and maximum command rate. Do not hard code those facts when the target descriptor already publishes them.

control/state reports accepted control work and supports a bounded timeout_s. The client stops the Run only after all three reads complete.

Next: 05 — Joint paths and Tracks.