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HTTPv1

控制与运动学

Server 当前 控制与运动学 接口；路径、方法、状态码与处理器签名直接来自 0.8.4 源码。

源码 packages/fastsim-plugin-server/src/fastsim_plugin_server/application.py
submit_joint_pathcontrol_statecontrol_targetssubmit_physical_trackskinematics_descriptorsolve_kinematics_ik

接口 6

POST/api/v1/control/joint-pathssubmit_joint_path
202dict[str, object]

Submit joint path

处理器submit_joint_path
签名async submit_joint_path(payload: JointPathRequest, idempotency_key: _RequiredIdempotencyHeader, slot_generation: _SlotGenerationHeader=None) -> JSONResponse
源码L2644
REQUEST
curl -X POST \
  http://127.0.0.1:8000/api/v1/control/joint-paths \
  -H 'Content-Type: application/json' \
  -d @request.json
GET/api/v1/control/statecontrol_state
200dict[str, object]

Control state

处理器control_state
签名async control_state(timeout_s: _QueryTimeout=None) -> JSONResponse
源码L2623
REQUEST
curl -X GET \
  http://127.0.0.1:8000/api/v1/control/state
GET/api/v1/control/targetscontrol_targets
200dict[str, object]

Control targets

处理器control_targets
签名async control_targets() -> JSONResponse
源码L2613
REQUEST
curl -X GET \
  http://127.0.0.1:8000/api/v1/control/targets
POST/api/v1/control/trackssubmit_physical_tracks
202dict[str, object]

Submit physical tracks

处理器submit_physical_tracks
签名async submit_physical_tracks(payload: PhysicalTracksRequest, idempotency_key: _RequiredIdempotencyHeader, slot_generation: _SlotGenerationHeader=None) -> JSONResponse
源码L2685
REQUEST
curl -X POST \
  http://127.0.0.1:8000/api/v1/control/tracks \
  -H 'Content-Type: application/json' \
  -d @request.json
GET/api/v1/kinematics/descriptorkinematics_descriptor
200dict[str, object]

Kinematics descriptor

处理器kinematics_descriptor
签名async kinematics_descriptor() -> JSONResponse
源码L2727
REQUEST
curl -X GET \
  http://127.0.0.1:8000/api/v1/kinematics/descriptor
POST/api/v1/kinematics/iksolve_kinematics_ik
200dict[str, object]

Solve kinematics ik

处理器solve_kinematics_ik
签名async solve_kinematics_ik(payload: KinematicsIkRequest) -> JSONResponse
源码L2740
REQUEST
curl -X POST \
  http://127.0.0.1:8000/api/v1/kinematics/ik \
  -H 'Content-Type: application/json' \
  -d @request.json