# 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 !!!"  
}
```