Here's an update after I learned some more: It looks like I can have the best of both worlds, since web2py has routers that can translate between a public URL and a back-end URL (see the subsection titled URL Rewrite <http://web2py.com/books/default/chapter/29/04/the-core#URL-rewrite> in the book). My plan is to use URLs in my API such as /object_a, /object_a/1, /object_a/1/info, and /object_a?type=1 along with the various HTTP methods, then use the router to translate these to the appropriate controllers' URLs.
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