> Documentation index: https://nao-rs.lukaloehr.com/llms.txt, a list of every page in this documentation.

# Schemas

> REST API: every request and response shape. Generated from the OpenAPI document.

## AcquireRequest

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `client` | string | yes | Who is asking (shown in status and logs), 1 to 64 printable characters. (example `joystick-app`) |
| `takeover` | boolean | no | Replace another client's lease. Never replaces a connected brain. |

## ActiveAnimation

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `animation` | [LedAnimation](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#ledanimation) | yes |  |
| `group` | [Group](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#group) | yes |  |

## AnimationKind

Type: `breathe`, `blink`, `rainbow`, `progress`

## AudioInfo

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `channels` | integer | yes |  |
| `rate` | integer | yes | (example `16000`) |
| `sample_format` | string | yes | (example `s16le`) |
| `speaker_accepts` | array of string | yes | Content types `POST /v1/audio/speaker` accepts. |

## Battery

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `charge` | number | yes | 0..1 |
| `charging` | boolean | yes |  |
| `current` | number | yes | Amperes; negative while discharging. |
| `temperature` | number | yes | Degrees Celsius, whole degrees. (LoLA and HULKs carry a tenth of it: Aldebaran's firmware scales the sensor twice, so 28 °C arrives as 2.8; the API converts it back.) |

## Board

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `address` | integer | yes |  |
| `name` | string | yes | (example `LeftHipBoard`) |
| `version` | integer or null | no | Configuration version; `null` if the board did not answer. |

## CameraInfo

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `last_image_age_s` | number or null | no | Seconds since the last image arrived; `null` if none yet. |
| `name` | [CameraName](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#cameraname) | yes |  |

## CameraName

Type: `top`, `bottom`

## Color

RGB color as "#rrggbb"

Type: string (pattern `^#[0-9a-fA-F]{6}$`, example `#ff8800`)

## ControlStatus

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `client` | string or null | no |  |
| `controller` | string | yes | `none`, `brain` (MessagePack client) or `lease` (a REST client). (example `lease`) |
| `quiet_for_ms` | integer or null | no | Since the controller was last heard. |
| `watchdog_active` | boolean | yes | The watchdog has taken over because the controller went quiet. |
| `yours` | boolean | yes | True if the `Nao-Lease` header of this request is the active lease. |

## DeathSwitch

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `all_off_confirmed` | boolean or null | no | The driver confirmed all-off frames since the trip. |
| `available` | boolean | yes | False when the switch page can't be read (e.g. in the simulator). |
| `driver` | [Driver](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#driver) or null | no |  |
| `generation` | integer or null | no | Increments on every trip and re-arm. |
| `reason` | [SwitchReason](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#switchreason) or null | no | What tripped it (`None` while armed). |
| `tripped` | boolean or null | no | Tripped: all motors are off and stay off until re-armed on the robot. |
| `tripped_for_ms` | integer or null | no |  |
| `unavailable_reason` | string or null | no | Why it is not available. |

## Driver

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `beat_age_ms` | integer or null | no | Since the driver's last frame; `null` if no driver ran since the page was cleared. |
| `cycle` | integer | yes |  |
| `pid` | integer | yes |  |

## ErrorBody

The JSON body of every error response.

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `error` | [ErrorDetail](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#errordetail) | yes |  |

## ErrorDetail

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `code` | string | yes | Stable, machine-readable error code (e.g. `invalid_input`, `not_lease_holder`). (example `invalid_input`) |
| `field` | string or null | no | The input field at fault, when there is one (dotted path). |
| `message` | string | yes | What went wrong and what to do about it. |

## Fan

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `speed_percent` | integer | yes | Fan speed, percent. |
| `temperature` | integer | yes | The CPU temperature the fan control used, whole °C. |

## Feet

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `left` | [Foot](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#foot) | yes |  |
| `right` | [Foot](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#foot) | yes |  |

## Foot

Pressure in kg.

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `front_left` | number | yes |  |
| `front_right` | number | yes |  |
| `rear_left` | number | yes |  |
| `rear_right` | number | yes |  |

## Group

A group in `/v1/leds/{group}`.

Type: `left_eye`, `right_eye`, `eyes`, `left_ear`, `right_ear`, `ears`, `chest`, `left_foot`, `right_foot`, `feet`

## Hardware

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `age_ms` | integer | yes | How old these readings are. |
| `boards` | array of [Board](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#board) | yes | Motor and foot boards with their configuration versions (empty until the board handshake finished, about 2 s after start). |
| `cpu_temperature` | number or null | no | The hottest CPU core in °C (hwmon coretemp; SoC DTS sensors as the fallback); `null` if the kernel exposes none. |
| `fan` | [Fan](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#fan) or null | no | The head fan's last control round (every 10 s); `null` before the first. |
| `head` | [HeadReadings](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#headreadings) or null | no | The head's power monitor and face board temperature as the head thread decoded them (zeros in the first ~300 ms after start). |

## HeadCommand

One of these, told apart by `type`:

**`center`**

**`look_around`**

**`look_at`**: Look at a point on the ground (|x|, |y| <= 10 m).

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `x` | number | yes |  |
| `y` | number | yes |  |

## HeadReadings

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `current` | number | yes | Ampere. |
| `power` | number | yes | Watt. |
| `temperature` | number | yes | °C. |
| `voltage` | number | yes | Volt. |

## Health

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `api` | string | yes | (example `v1`) |
| `state_age_ms` | integer or null | no | Age of the latest robot state; `null` before the robot reported one. |
| `status` | string | yes | (example `ok`) |
| `uptime_s` | number | yes |  |

## Imu

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `angular_velocity` | array of number | yes | rad/s. |
| `linear_acceleration` | array of number | yes | m/s², x forward, y left, z up. |
| `roll_pitch` | array of number | yes | Roll and pitch, radians. |

## Interfaces

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `msgpack_port` | integer | yes | The MessagePack-over-TCP API of the brain. |
| `rest_port` | integer | yes | This API. |
| `udp_stop_port` | integer | yes | The guard's UDP stop (any datagram starting with the stop magic trips the death switch). |

## Joint

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `current` | number | yes | Amperes. |
| `name` | string | yes | (example `head_yaw`) |
| `position` | number | yes | Radians (hands: 0 closed .. 1 open). |
| `temperature` | number | yes | Degrees Celsius. |

## LeaseGrant

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `client` | string | yes |  |
| `heartbeat_interval_ms` | integer | yes | Send a heartbeat or command at least this often. |
| `lease` | string | yes | Send this in the `Nao-Lease` header. |
| `lease_timeout_ms` | integer | yes | The lease ends after this long without a heartbeat or command. |

## LedAnimation

An animation for one group.

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `brightness` | number or null | no | Ears: peak brightness 0..1 (default 1). Not for the color groups. |
| `color` | [Color](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#color) or null | no | Eyes, chest and feet (default white). Not for ears, which are blue only. |
| `kind` | [AnimationKind](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#animationkind) | yes |  |
| `period_ms` | integer or null | no | One cycle, 100 to 60000 ms (default: breathe 3000, blink 1000, rainbow 4000). (100 to 60000) |
| `value` | number or null | no | Progress only (required there): 0..1. |

## LedOverrides

Every LED group's override. `null` (or absent) hands the group back to the robot.

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `chest` | [Color](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#color) or null | no |  |
| `left_ear` | array of 10 × number or null | no | 10 brightness levels 0..1 (the ears are blue only). |
| `left_eye` | array of 8 × [Color](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#color) or null | no | 8 colors, index 0 at the top, clockwise as seen from the front. |
| `left_foot` | [Color](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#color) or null | no |  |
| `right_ear` | array of 10 × number or null | no |  |
| `right_eye` | array of 8 × [Color](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#color) or null | no |  |
| `right_foot` | [Color](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#color) or null | no |  |

## LedSetting

What to show on a group or a single LED. Exactly one field:
eyes take `color` or `colors` (8), ears take `brightness` or `levels` (10), chest and feet take
`color`; a single LED takes `color` (eye) or `brightness` (ear).

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `brightness` | number or null | no | One brightness 0..1 for every ear segment. |
| `color` | [Color](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#color) or null | no | One color for every LED of the group. |
| `colors` | array of 8 × [Color](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#color) or null | no | One color per eye segment (8). |
| `levels` | array of 10 × number or null | no | One brightness 0..1 per ear segment (10). |

## LedStatus

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `overrides` | [LedOverrides](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#ledoverrides) | yes | The controller's overrides; `null` groups show the robot's own status. |
| `shown` | boolean | yes | Overrides show only while a controller (lease or brain) is connected. |

## MotionCommand

One of these, told apart by `type`:

**`stand`**: Stand still.

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `head` | [HeadCommand](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#headcommand) | no |  |

**`walk_to`**: Walk to a point (|x|, |y| <= 5 m), then stop there. `turn_to`: final heading relative to the current one (-pi..pi); without it the robot faces where it walked.

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `head` | [HeadCommand](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#headcommand) | no |  |
| `speed` | [WalkSpeed](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#walkspeed) | no |  |
| `turn_to` | number or null | no |  |
| `x` | number | yes |  |
| `y` | number | yes |  |

**`walk_toward`**: Keep walking toward a point that stays at this offset (|x|, |y| <= 2), like a joystick: (1, 0) straight on, (0.5, 0.5) a circle, (0.02, 0.5) turn on the spot. Send it again to steer, `stand` to stop.

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `head` | [HeadCommand](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#headcommand) | no |  |
| `speed` | [WalkSpeed](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#walkspeed) | no |  |
| `x` | number | yes |  |
| `y` | number | yes |  |

**`sit_down`**

**`arms_up`**

**`squat`**

## MotionStatus

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `commanded` | [MotionCommand](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#motioncommand) or null | no | What the controller commanded last (`null`: nothing yet). |
| `executing` | string or null | no | What the robot executes now (`Stand`, `Walk`, `SitDown`, `StandUpFront`, ...). |

## PowerRequest

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `state` | [PowerState](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#powerstate) | yes |  |

## PowerState

Type: `wake`, `rest`

## PowerStatus

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `primary_state` | string or null | no | The robot's primary state from the latest state (`Unstiff`, `Animation`, `Initial`, `Playing`, `Finished`); `null` before the first state. |

## Preset

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `description` | string | yes |  |
| `name` | string | yes | (example `blue`) |

## Queued

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `duration_ms` | integer | yes |  |
| `samples` | integer | yes |  |

## Robot

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `body_id` | string | yes | Body serial number (empty until the robot runtime reported it). |
| `body_version` | string or null | no | Body hardware version (e.g. `6.0.0`); `null` outside the real robot. |
| `echo_cancellation` | boolean | yes | The robot removes its own voice from the microphones (echo cancellation), so clients can keep listening while it speaks. False: the robot mutes its microphones while speaking. |
| `head_id` | string | yes | Head serial number (empty until the robot runtime reported it). |
| `head_version` | string or null | no | Head hardware version; `null` outside the real robot. |
| `interfaces` | [Interfaces](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#interfaces) | yes |  |
| `simulated` | boolean | yes | True in the simulator (no microphones, speakers or death switch page there). |
| `software` | [Software](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#software) | yes |  |

## RobotState

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `age_ms` | integer | yes | How old this state is. |
| `battery` | [Battery](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#battery) | yes |  |
| `fall_state` | string | yes | `Upright`, `Falling`, `Fallen`, `StandingUp` or `Sitting`. |
| `feet` | [Feet](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#feet) | yes |  |
| `imu` | [Imu](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#imu) | yes |  |
| `joints` | array of [Joint](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#joint) | yes | Every joint, head to feet. |
| `motion` | string | yes | The motion being executed (`Stand`, `Walk`, `SitDown`, ...). |
| `primary_state` | string | yes | `Unstiff`, `Animation`, `Initial`, `Playing` or `Finished`. |
| `sonar` | [Sonar](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#sonar) | yes |  |
| `time` | number | yes | Robot clock when the state was taken, seconds since the Unix epoch. |
| `touch` | [Touch](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#touch) | yes |  |

## Safety

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `death_switch` | [DeathSwitch](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#deathswitch) | yes |  |
| `rearm` | string | yes | How to re-arm (never possible over the API). |

## Software

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `msgpack_protocol` | integer | yes | Version of the MessagePack protocol on `msgpack_port`. |
| `name` | string | yes | (example `nao-rs`) |
| `rest_api` | string | yes | (example `v1`) |
| `version` | string | yes | Version of the robot program. |

## Sonar

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `left` | number | yes | Meters to the nearest obstacle. |
| `right` | number | yes |  |

## StopResult

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `death_switch` | [DeathSwitch](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#deathswitch) | yes |  |
| `page_tripped` | boolean | yes | The switch page was tripped directly (reason `Api`). |
| `udp_sent` | boolean | yes | The guard's UDP stop was sent too (works even if this program hangs). |

## StreamEvent

One event on `GET /v1/events/stream`. The SSE event name is `type`.

One of these, told apart by `type`:

**`touch`**: A touch sensor was pressed or released.

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `pressed` | boolean | yes |  |
| `sensor` | string | yes |  |

**`fall`**: The fall state changed (Upright, Falling, Fallen, StandingUp, Sitting).

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `state` | string | yes |  |

**`watchdog`**: The watchdog took over because the controller went quiet, or handed control back.

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `active` | boolean | yes |  |

**`safety`**: The death switch changed (tripped or re-armed on the robot).

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `generation` | integer | yes |  |
| `reason` | [SwitchReason](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#switchreason) | yes |  |
| `tripped` | boolean | yes |  |

**`control`**: The controller changed.

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `client` | string or null | no |  |
| `controller` | string | yes | `none`, `brain` or `lease`. |

## StreamFormat

Type: `wav`, `raw`

## SwitchReason

Why the death switch was tripped (the drivers' `deathswitch::Reason`; the first reason wins
until re-armed).

| Value | Meaning |
| --- | --- |
| `None` | Armed: not tripped. |
| `ChestButton` | The chest button was pressed. |
| `HeadTouch` | All three head touch pads at once. |
| `Api` | POST /v1/safety/stop, the WebSocket stop or the MessagePack Stop (each trips the page directly and also sends the UDP stop). |
| `Udp` | The guard's UDP stop alone, e.g. `nao-rs stop <address>` from the Mac. |
| `Cli` | naoctl on the robot, or a fresh page (it starts tripped). |
| `DriverFault` | The driver failed (cycle overrun, chest board error) or the runtime stopped. |
| `Overtemperature` | Too hot: a joint at 75 °C, or the CPU above 95 °C (the head's fan control). |
| `GuardHeartbeatLost` | The guard saw no driver heartbeat and took the chest board over. |
| `GuardNoConfirmation` | The driver did not confirm all-off frames after a trip; the guard took over. |
| `Test` | Tests. |
| `PageLost` | The page file was truncated, deleted or replaced on disk; it was restored tripped. |

## Touch

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `chest_button` | boolean | yes |  |
| `head_front` | boolean | yes |  |
| `head_middle` | boolean | yes |  |
| `head_rear` | boolean | yes |  |
| `left_foot` | boolean | yes |  |
| `left_hand` | boolean | yes |  |
| `right_foot` | boolean | yes |  |
| `right_hand` | boolean | yes |  |

## VolumeRequest

A volume change. Give `percent`, `muted` or both; a percent above 0 also unmutes unless
`muted` is given too.

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `muted` | boolean or null | no |  |
| `percent` | integer or null | no | 0 to 100. (0 to 100) |

## VolumeStatus

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `age_ms` | integer | yes | How old this readback is (the robot reads the mixer about once a second). |
| `muted` | boolean | yes |  |
| `percent` | integer | yes | Speaker volume 0..100 as the mixer holds it now. (example `65`) |

## WalkSpeed

Type: `slow`, `normal`, `fast`

## WsClientMessage

A message from the client. Every message may carry an `id`, which the answer repeats.

Every field of [WsCommand](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#wscommand), plus:

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `id` | integer or null | no |  |

## WsCommand

One of these, told apart by `type`:

**`hello`**: First message: take the lease for `client` (1 to 64 printable characters).

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `client` | string | yes |  |
| `takeover` | boolean | no |  |

**`heartbeat`**: Keeps control when nothing else is sent (at least every 100 ms).

**`motion`**: Like `PUT /v1/motion`.

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `motion` | [MotionCommand](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#motioncommand) | yes |  |

**`head`**: Like `PUT /v1/motion/head`.

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `head` | [HeadCommand](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#headcommand) | yes |  |

**`power`**: Like `PUT /v1/power`.

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `state` | [PowerState](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#powerstate) | yes |  |

**`leds`**: Like `PUT /v1/leds/{group}`.

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `group` | [Group](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#group) | yes |  |
| `setting` | [LedSetting](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#ledsetting) | yes |  |

**`volume`**: Like `PUT /v1/audio/volume`.

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `volume` | [VolumeRequest](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#volumerequest) | yes |  |

**`stop`**: Like `POST /v1/safety/stop`: the death switch, needs no lease.

## WsServerMessage

A message from the robot.

One of these, told apart by `type`:

**`welcome`**: Answer to `hello`: you control the robot until the socket closes.

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `heartbeat_interval_ms` | integer | yes |  |
| `id` | integer or null | no |  |
| `lease` | string | yes |  |
| `lease_timeout_ms` | integer | yes |  |

**`ok`**: The command was accepted. `motion` is the commanded motion after `motion` and `head`.

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `id` | integer or null | no |  |
| `motion` | [MotionCommand](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#motioncommand) or null | no |  |

**`error`**: The command was refused (same codes as the HTTP API).

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `code` | string | yes |  |
| `field` | string or null | no |  |
| `id` | integer or null | no |  |
| `message` | string | yes |  |

**`stopped`**: The death switch was tripped.

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `id` | integer or null | no |  |
| `page_tripped` | boolean | yes |  |
| `udp_sent` | boolean | yes |  |

**`event`**: A robot event, as on `GET /v1/events/stream`.

| Field | Type | Required | Meaning |
| --- | --- | --- | --- |
| `event` | [StreamEvent](https://nao-rs.lukaloehr.com/reference/rest-api/schemas.md#streamevent) | yes |  |

## Related topics

- [REST API](https://nao-rs.lukaloehr.com/reference/rest-api.md)
- [System](https://nao-rs.lukaloehr.com/reference/rest-api/system.md)
- [Robot](https://nao-rs.lukaloehr.com/reference/rest-api/robot.md)
- [State](https://nao-rs.lukaloehr.com/reference/rest-api/state.md)
- [Events](https://nao-rs.lukaloehr.com/reference/rest-api/events.md)
- [Safety](https://nao-rs.lukaloehr.com/reference/rest-api/safety.md)
- [Control](https://nao-rs.lukaloehr.com/reference/rest-api/control.md)
- [LEDs](https://nao-rs.lukaloehr.com/reference/rest-api/leds.md)
- [Audio](https://nao-rs.lukaloehr.com/reference/rest-api/audio.md)
- [Cameras](https://nao-rs.lukaloehr.com/reference/rest-api/cameras.md)
- [Power](https://nao-rs.lukaloehr.com/reference/rest-api/power.md)
- [Motion](https://nao-rs.lukaloehr.com/reference/rest-api/motion.md)
- Previous: [Motion](https://nao-rs.lukaloehr.com/reference/rest-api/motion.md)
- Next: [Robot API](https://nao-rs.lukaloehr.com/reference/api.md)