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# 手臂轨迹控制能力接口
## 接口列表
- [手臂轨迹控制任务启动](#手臂轨迹控制任务启动)
### task_type
| task_type | 任务说明 |
| ----------------- | ----------- |
| 0 | 手臂轨迹控制任务 |
## 手臂轨迹控制任务启动
### 请求地址
`POST /api/task/start_task`
### 请求参数
| 字段名 | 类型 | 必填 | 默认值 | 说明 | 示例值 |
| ----------------- | ----------- | ---- | ----- |------------ | ------------------- |
| task_type | int64 | 是 | | 任务类型id | 0 |
| payload | object | 是 | | 任务输入参数 | |
| ├─ label | string | 是 | |轨迹名称 | “track1” |
### label值说明
| 轨迹名称 | 描述 |
| ----------------- | ----------- |
| track1 | 起手式 |
| track2 | 去传送带抓 |
| track3 | 抓起检测 |
| track4 | 放成品框 |
| track5 | 回起手式 |
| track6 | 放废品框 |
| track7 | 回起手式 |
| track8 | 落手 |
### 响应参数
| 字段名 | 类型 | 说明 | 示例值 |
| -------------- | ------ | -------------- | --------------------------------------- |
| task_id | string | 任务id | "e5672a6e-0bc2-4646-a019-dd914034e3ed" |
### 示例请求
``` json
{
"task_type": 0,
"payload": {
"label": “track1”
}
}
```
### 示例返回
``` json
{
"task_id": "e5672a6e-0bc2-4646-a019-dd914034e3ed"
}
```
需要根据task_id向能力框架查询任务执行情况。
如果执行成功或执行中，在向能力框架查询到的任务执行情况payload字段如下，status字段为running或finished
``` json
// 执行成功payload
{
"end_time": "2025-09-16 21:41:46.834",
"executor_id": "12034fd5-86e0-402b-bb0d-30fad009d56a",
"executor_type": "ability",
"id": "61072e7b-5f2c-41f5-b7ba-65d7b7e264bc",
"start_time": "2025-09-16 21:41:46.808",
"state": "finished",
"timeout": 0
"payload": {
"result": [
{
"status": "success",
"full_path": "/control/PR2_ROBOT1/play",
"method": "POST",
"sent_payload": {
"action": "play",
"params": {
"goal_arm": "right",
"left_cur_pos": [
0.55,
0.167,
0.966
],
"right_cur_pos": [
0.55,
-0.167,
0.966
],
"left_angle": [
1.57,
0,
0
],
"right_angle": [
0,
0,
1.57
]
},
"robot_name": "PR2_ROBOT1"
}
}
]
},
"message": ""
}
```
如果执行失败，在向能力框架查询到的任务执行情况payload字段，status字段为error
``` json
// 执行失败
{
"end_time": "2025-09-16 21:41:46.834",
"executor_id": "12034fd5-86e0-402b-bb0d-30fad009d56a",
"executor_type": "ability",
"id": "61072e7b-5f2c-41f5-b7ba-65d7b7e264bc",
"start_time": "2025-09-16 21:41:46.808",
"state": "error",
"timeout": 0
"payload": {
"result": [
{
"status": "error",
"full_path": "/control/PR2_ROBOT1/play",
"method": "POST",
"sent_payload": {
"action": "play",
"params": {
"goal_arm": "right",
"left_cur_pos": [
0.55,
0.167,
0.966
],
"right_cur_pos": [
0.55,
-0.167,
0.966
],
"left_angle": [
1.57,
0,
0
],
"right_angle": [
0,
0,
1.57
]
},
"robot_name": "PR2_ROBOT1"
}
}
]
},
"message": "sendArmCrtlObjectCmd failed !!!"
}
```