The body is the raw .weldplan bytes. Options go in the query string.

The OLP server always sends run_weld_trajopt=true, run_connecting_trajopt=true, verify=true and dense=true, plus the free-space backend and the program identity.

• One plan at a time. A second request waits for the first. It can still be cancelled while it waits. - One process per plan. Each admitted request runs in a fresh Python process that owns the GPU. This costs interpreter, model and CUDA start-up on every plan. - Cancellation. If the client disconnects, the server sends SIGTERM to the planning process group, then SIGKILL after 2 s, and answers 499. A cancelled plan never stores a .rdt. - Atomic publication. The .rdt is written to the store only after the planning process succeeded and the client is still connected.

200 OK with the result document, schema amr-weld-planner-v1.motion-plan-result.v1. On the wire, angles are in degrees and lengths in mm; times are in s. A trimmed example:

The values above are illustrative. The fields that matter most:

See The plan result for every block, and Verdicts for what PASS, REFUSED and FAIL mean.

A plan can answer 200 OK and still have no .rdt. Then dense_error says why, and the server keeps the request and result under <dense store>/refused/ (newest 5) for diagnosis. The reasons are admission's and the encoder's:

segment_index names the failing segment when there is one.