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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 !!!"  
+}
+```