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Multiple arms support / API router #17

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Multiple arms support / API router #17

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api router
spirosperos May 28, 2026
6edefce
Delete docs/architecture.md
spirosperos May 28, 2026
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5 changes: 4 additions & 1 deletion teleop/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
import logging
from typing import Callable, List
import uvicorn
from fastapi import FastAPI, WebSocket, WebSocketDisconnect
from fastapi import APIRouter, FastAPI, WebSocket, WebSocketDisconnect
from fastapi.responses import FileResponse
from fastapi.staticfiles import StaticFiles
import transforms3d as t3d
Expand Down Expand Up @@ -192,6 +192,9 @@ def __init__(
logging.getLogger("uvicorn.access").setLevel(logging.WARNING)
self.__setup_routes()

def include_router(self, router: APIRouter, **kwargs) -> None:
self.__app.include_router(router, **kwargs)

def set_pose(self, pose: np.ndarray) -> None:
"""
Set the current pose of the end-effector.
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