ReferenceREST API
REST API: Sensors, joints, battery, temperatures. Generated from the OpenAPI document.
Latest full state
GET /v1/state
Sensors, joints (position, temperature, current), battery, IMU, sonar, foot pressure and touch, as last reported by the robot (20 per second). Units are on Body sensors and units.
Token: required · Lease: not needed
| Status | Meaning | Body |
|---|---|---|
| 200 | The latest state | RobotState |
| 401 | Missing or wrong token | ErrorBody |
| 503 | No state yet | ErrorBody |
Stream the state
GET /v1/state/stream
Server-Sent Events: one state event with a RobotState per period. Browsers can pass the token as ?access_token=.
Token: required · Lease: not needed
| Parameter | In | Type | Required | Meaning |
|---|---|---|---|---|
rate | query | number | no | States per second, 0.1 to 20 (default 10). (0.1 to 20) |
| Status | Meaning | Body |
|---|---|---|
| 200 | Server-Sent Events, event: state with a RobotState as data | text/event-stream |
| 401 | Missing or wrong token | ErrorBody |
| 422 | Invalid rate | ErrorBody |
| 503 | Too many streams open | ErrorBody |