Public Python API for fastsim.api.application; signatures are extracted directly from FastSim source.
Source src/fastsim/api/application.py
class ApplicationStateSnapshot(object)One coherent committed world/observation envelope.
| Field | Type | Default |
|---|---|---|
| world | WorldStateSnapshot | — |
| observation | ObservationSnapshot | — |
class ApplicationControlStatus(object)Portable progress for one application-owned control operation.
| Field | Type | Default |
|---|---|---|
| operation_id | str | — |
| chunk_id | str | — |
| status | ChunkStatus | — |
| done | bool | — |
| progress | ChunkProgress | — |
class ApplicationControlError(RuntimeError)Stable direct-application input or capability error.
class ApplicationControlOperation(object)Stable non-blocking handle; cancellation linearizes through ControlService.
class ApplicationControlClient(object)Physical direct-control surface for joint paths and generic tracks.
Subscribe to bounded, history-free ``APPLIED_FRAME`` audit envelopes. Every non-gap item is a :class:`ControlAuditEnvelope` whose kind is ``APPLIED_FRAME`` and whose payload is an :class:`AppliedControlFrame`. The payload is directly serializable with ``applied_frame_to_dict`` or ``encode_applied_frame``. Closing this revocable subscription removes its audit demand immediately.
class ApplicationSceneClient(_ApplicationReadClient)Set a rigid or articulated entity asset-root pose in world coordinates. On USD backends the target is the spawned entity Prim, never an inferred articulation root link. Query root-link state explicitly when it is required.
Begin one explicit backend-neutral kinematic drag transaction.
Fix a rigid body or articulation link to another physical endpoint.
Remove one active attachment and leave the child at its committed pose.
class ApplicationVisualizationClient(object)Asynchronous application facade for native and portable debug overlays.
class ApplicationFrameClient(_ApplicationReadClient)Return ``target_frame_T_source_frame`` for explicit source/target order.
class ApplicationGeometryResource(object)Async owner-loop proxy for one provider-owned geometry resource lease.
class ApplicationGeometryClient(_ApplicationReadClient)class ApplicationScenarioView(object)Immutable Scenario data exactly as frozen into the Run.
| Field | Type | Default |
|---|---|---|
| source | FrozenDict[str, object] | — |
| scene | FrozenDict[str, object] | — |
| behavior | FrozenDict[str, object] | None | — |
| evaluation | FrozenDict[str, object] | None | — |
| digest | str | — |
class CameraRgbSubscription(object)One generation-fenced, capacity-one asynchronous camera RGB stream.
Return the latest selected frame, always newer than the prior result.
Remove capture demand promptly; repeated calls are harmless.
class ApplicationKinematicsClient(object)Beginner-first, solve-only kinematics client for one Application.
Return the explicitly selected solver's validated descriptor.
Solve an EE pose without sending any control command. ``robot`` accepts either a canonical entity ID such as ``robots.arm`` or its Scenario alias such as ``arm``. Omitting ``start`` captures the current joint state atomically. Multi-group robots may pass ``group`` to select the exact ordered chain state.
Solve one advanced canonical SPI request exactly as supplied.
class FastSimApplication(object)Asynchronous facade for one immutable direct-development Run.
Access the lazy solve-only kinematics service.
Access portable debug drawing without a backend SDK.
Return the bounded immutable history of events published by plugins.
Return immutable public identity for this direct Run.
Start one simulation-time particle emitter after prepare.
Permanently stop one liquid emitter.
Pause or resume one non-terminal liquid emitter.
Create one conserved liquid reservoir for this Run.
Refill or drain a reservoir without recreating the scene.
Open a latest-frame RGB subscription pinned to the active generation.
Read one deformable's current world-frame node state.
application_plan(plan: ExecutionPlan, *, authority: ApplicationAuthority | str=ApplicationAuthority.EXCLUSIVE, timeout: float | None=None, planning_reads: bool=False, kinematics_solver: str=DEFAULT_KINEMATICS_SOLVER_ID, kinematics_config: Mapping[str, object] | None=None) -> FastSimApplicationCreate a lazy asynchronous application from one compiled Plan. Planning scene/frame/geometry publication is pay-for-play. Set ``planning_reads=True`` only when those APIs are required; the default avoids locking ``planning.scene@2`` into ordinary control or sensor runs. Disabled planning calls fail with their typed ``SERVICE_ACCESS_DENIED`` error and never return a partial collision scene.
application(path: str | Path, lock: str | Path | None=None, *, authority: ApplicationAuthority | str=ApplicationAuthority.EXCLUSIVE, launch_profile: str | None=None, timeout: float | None=None, planning_reads: bool=False, kinematics_solver: str=DEFAULT_KINEMATICS_SOLVER_ID, kinematics_config: Mapping[str, object] | None=None) -> FastSimApplicationCompile a project Run and return its lazy asynchronous application. ``planning_reads`` has the same opt-in semantics as :func:`application_plan`. ``launch_profile`` is an unlocked compilation override and cannot modify an existing lock.