Robot

Get full robot state

Get detailed information about state of specified robot

POST/api/robot/getFullState

Authorizations

x-auth-apikeystringheaderrequired

Your Rhombus API key. Must be accompanied by the x-auth-scheme header set to api-token (or partner-api-token for partner endpoints).

Headers

x-auth-schemeenum<string>headerrequireddefault: api-token

Authentication scheme identifier. Use api-token for standard API key authentication, partner-api-token for partner API key authentication. Must be paired with the x-auth-apikey header containing your API key.

Available options: api-token, api, partner-api-token, partner-api

Body

application/json · object

deviceUuidstring<DeviceFacetUuid> | nullbody

RUUID with optional appended facet information

Example: "AAAAAAAAAAAAAAAAAAAAAA.v0"

forceboolean | nullbody

bash

curl --request POST \
  --url 'https://api2.rhombussystems.com/api/robot/getFullState' \
  --header 'x-auth-scheme: api-token' \
  --header 'x-auth-apikey: YOUR_API_KEY' \
  --header 'Content-Type: application/json' \
  --data '{
    "deviceUuid": "AAAAAAAAAAAAAAAAAAAAAA.v0",
    "force": true
  }'

import requests

url = "https://api2.rhombussystems.com/api/robot/getFullState"
headers = {
    "x-auth-scheme": "api-token",
    "x-auth-apikey": "YOUR_API_KEY",
    "Content-Type": "application/json",
}
payload = {
    "deviceUuid": "AAAAAAAAAAAAAAAAAAAAAA.v0",
    "force": True
}

response = requests.post(url, headers=headers, json=payload)
response.raise_for_status()
print(response.json())

const response = await fetch('https://api2.rhombussystems.com/api/robot/getFullState', {
  method: 'POST',
  headers: {
    'x-auth-scheme': 'api-token',
    'x-auth-apikey': 'YOUR_API_KEY',
    'Content-Type': 'application/json',
  },
  body: JSON.stringify({
    "deviceUuid": "AAAAAAAAAAAAAAAAAAAAAA.v0",
    "force": true
  }),
});
if (!response.ok) throw new Error(`${response.status}: ${await response.text()}`);

console.log(await response.json());

import java.net.URI;
import java.net.http.HttpClient;
import java.net.http.HttpRequest;
import java.net.http.HttpResponse;

public class Example {
    public static void main(String[] args) throws Exception {
        String body = """
            {
              "deviceUuid": "AAAAAAAAAAAAAAAAAAAAAA.v0",
              "force": true
            }
            """;
        HttpRequest request = HttpRequest.newBuilder()
            .uri(URI.create("https://api2.rhombussystems.com/api/robot/getFullState"))
            .header("x-auth-scheme", "api-token")
            .header("x-auth-apikey", "YOUR_API_KEY")
            .header("Content-Type", "application/json")
            .method("POST", HttpRequest.BodyPublishers.ofString(body))
            .build();
        HttpResponse<String> response = HttpClient.newHttpClient()
            .send(request, HttpResponse.BodyHandlers.ofString());
        System.out.println(response.statusCode() + " " + response.body());
    }
}

json

{
  "fullState": {
    "activity": "IDLE",
    "activityStartedAtMs": 0,
    "activityUpdatedAtMs": 0,
    "activityUuid": "AAAAAAAAAAAAAAAAAAAAAA",
    "afSupport": true,
    "audioSupported": true,
    "baseVideoOperationUri": "<string>",
    "batteryPercent": 0,
    "charging": true,
    "connectionStatus": "GREEN",
    "connectionTimestampMs": 0,
    "createdAtMillis": 0,
    "defaultInterface": "<string>",
    "defaultInterfaceMac": "<string>",
    "description": "<string>",
    "directionRadians": 0,
    "distanceRemaining": 0,
    "estimatedTimeRemainingSec": 0,
    "event": "STARTED",
    "externalIPAddress": "<string>",
    "facetNameMap": {
      "<key>": "<string>"
    },
    "failureReason": "<string>",
    "firmwareUpdateInProgress": true,
    "firmwareVersion": "<string>",
    "floorNumber": 0,
    "goalPose": {
      "orientation": [
        0
      ],
      "position": [
        0
      ]
    },
    "healthStatus": "GREEN",
    "healthStatusDetails": "NONE",
    "hwVariation": "RASPBERRY_PI_3",
    "lanAddresses": [
      "<string>"
    ],
    "lastEventUuid": "AAAAAAAAAAAAAAAAAAAAAA",
    "latestFirmwareVersion": "<string>",
    "latitude": 0,
    "liveStreamShared": true,
    "liveStreamsSharedCount": 0,
    "locationUuid": "AAAAAAAAAAAAAAAAAAAAAA",
    "longitude": 0,
    "mapId": "AAAAAAAAAAAAAAAAAAAAAA",
    "maxZoomPercent": 0,
    "mediaRegion": "<string>",
    "mediaStorageDeviceUuid": "AAAAAAAAAAAAAAAAAAAAAA.v0",
    "mode": "DOCKED",
    "mummified": true,
    "name": "<string>",
    "navPath": [
      0
    ],
    "navPathTsMs": 0,
    "navigationTimeSec": 0,
    "onCameraState": {
      "<key>": {}
    },
    "onCloudState": {
      "<key>": {}
    },
    "orientation": 0,
    "pathUpdatedAtMs": 0,
    "phase": "<string>",
    "phaseEvent": "<string>",
    "phaseUuid": "AAAAAAAAAAAAAAAAAAAAAA",
    "policyUuid": "AAAAAAAAAAAAAAAAAAAAAA",
    "pose": {
      "orientation": [
        0
      ],
      "position": [
        0
      ]
    },
    "poseUpdatedAtMs": 0,
    "position": 0,
    "preemptedBy": {
      "activity": "IDLE",
      "priority": 0
    },
    "progressUpdatedAtMs": 0,
    "region": "<string>",
    "roamingLatitude": 0,
    "roamingLongitude": 0,
    "robotPlatform": "go2",
    "robotPlatformCapability": {
      "driveType": "<string>",
      "facetOrientationDegrees": {
        "<key>": 0
      },
      "movementAxes": [
        {
          "max": 0,
          "min": 0,
          "name": "<string>"
        }
      ],
      "platform": "go2",
      "postureAxes": [
        {
          "max": 0,
          "min": 0,
          "name": "<string>"
        }
      ],
      "supportedActions": [
        "<string>"
      ],
      "supportedAvoidanceModes": [
        "<string>"
      ],
      "supportedFacets": [
        "v0, a0"
      ]
    },
    "routeUuid": "AAAAAAAAAAAAAAAAAAAAAA",
    "secondaryLanAddresses": [
      "<string>"
    ],
    "serialNumber": "<string>",
    "ssid": "<string>",
    "stateUpdatedAtMs": 0,
    "stateUpdatedTimestampMs": 0,
    "subLocationsHierarchyKey": "AAAAAAAAAAAAAAAAAAAAAA.AAAAAAAAAAAAAAAAAAAAAA.AAAAAAAAAAAAAAAAAAAAAA",
    "supportedFacets": [
      "v0, a0"
    ],
    "updatedAtMs": 0,
    "uuid": "AAAAAAAAAAAAAAAAAAAAAA",
    "versionsBehind": 0,
    "waypointIndex": 0,
    "waypointTotal": 0,
    "waypointUuid": "AAAAAAAAAAAAAAAAAAAAAA",
    "wifiApMac": "<string>",
    "wifiBars": 0,
    "wifiSignalStrength": 0
  }
}

Response

200 OK

application/json · object

Response containing full state information for a robot.

fullStateobject

Full device state information for the robot

Show child attributes

activityenum<string>

Available options: IDLE, MANUAL_CMD_VEL, MANUAL_ACTION, MANUAL_POSTURE, NAVIGATE_TO_POSE, NAVIGATE_TO_HOME, NAVIGATE_TO_WAYPOINT, ROUTE_RUN, LOW_BATTERY_DOCKING, IDLE_DOCKING, DWELLING, EMERGENCY, EXPLORE_AND_MAP, EXPLORE_AREA, MAINTENANCE_HOLD, UNKNOWN

activityStartedAtMsinteger<int64> | null

activityUpdatedAtMsinteger<int64> | null

activityUuidstring<RUUID> | null

base 64 (url-safe) uuid string

Example: "AAAAAAAAAAAAAAAAAAAAAA"

afSupportboolean | null

audioSupportedboolean | null

baseVideoOperationUristring | null

batteryPercentinteger<int32> | null

chargingboolean | null

connectionStatusenum<string>

Available options: RED, ORANGE, YELLOW, GREEN

connectionTimestampMsinteger<int64> | null

createdAtMillisinteger<int64> | null

defaultInterfacestring | null

defaultInterfaceMacstring | null

descriptionstring | null

directionRadiansnumber<float> | null

distanceRemainingnumber<float> | null

estimatedTimeRemainingSecnumber<double> | null

eventenum<string>

Available options: STARTED, PROGRESS, SUSPENDED, RESUMED, COMPLETED, FAILED, CANCELED, REJECTED, UNKNOWN

externalIPAddressstring | null

facetNameMapobject | null

failureReasonstring | null

firmwareUpdateInProgressboolean | null

firmwareVersionstring | null

floorNumberinteger<int32> | null

goalPoseobject

Show child attributes

orientationnumber<double>[] | null

Items: 4 to 4

positionnumber<double>[] | null

Items: 3 to 3

healthStatusenum<string>

Available options: RED, ORANGE, YELLOW, GREEN

healthStatusDetailsenum<string>

Available options: DISCONNECTED, FIRMWARE_BEHIND, NOT_RECORDING, LINK_SPEED_LOW, MALFUNCTIONING_MODULES, CALIBRATING, DELAYED, NONE

hwVariationenum<string>

Available options: RASPBERRY_PI_3, CAMERA_R1, CAMERA_R2, CAMERA_R2_LONG_RANGE, CAMERA_R2_180, CAMERA_R3, CAMERA_R4, CAMERA_R100, CAMERA_R120, CAMERA_R170, CAMERA_R200, CAMERA_R500, CAMERA_R510, CAMERA_R520, CAMERA_R600, SENSOR_ASSET_TAG_T1, SENSOR_DOOR_D1, SENSOR_DOOR_D20, SENSOR_ENVIRONMENTAL_E1, SENSOR_ENVIRONMENTAL_E15, SENSOR_ENVIRONMENTAL_E2, SENSOR_MOTION_M1, SENSOR_MOTION_M15, GATEWAY_A1, GATEWAY_A100, GATEWAY_ENVIRONMENTAL_E50, CAMERA_R220, CAMERA_R230, CAMERA_R36S, CAMERA_R410, CAMERA_R540, CAMERA_R545, BADGE_READER_DR1, BADGE_READER_DR40, BADGE_READER_DR20, DOOR_CONTROLLER_DC1, DOOR_CONTROLLER_DC20, DOOR_CONTROLLER_DC10, ETHERNET_TESTER_ET1, IO_BOARD_TB1, BLE_BUTTON_B10, BLE_BUTTON_B15, CAMERA_THIRD_PARTY_RELAY, CAMERA_THIRD_PARTY_NVR, CAMERA_THIRD_PARTY_NVR_MULTISENSOR, NVR_N100, CAMERA_R130, NVR_N500, CAMERA_R150, ROBOT_RC1, CAMERA_R210, CAMERA_R650, NVR_N550, NVR_N551, ROBOT_RC2, UNSPECIFIED

lanAddressesstring[] | null

lastEventUuidstring<RUUID> | null

base 64 (url-safe) uuid string

Example: "AAAAAAAAAAAAAAAAAAAAAA"

latestFirmwareVersionstring | null

latitudenumber<double> | null

liveStreamSharedboolean | null

liveStreamsSharedCountinteger<int32> | null

locationUuidstring<RUUID> | null

base 64 (url-safe) uuid string

Example: "AAAAAAAAAAAAAAAAAAAAAA"

longitudenumber<double> | null

mapIdstring<RUUID> | null

base 64 (url-safe) uuid string

Example: "AAAAAAAAAAAAAAAAAAAAAA"

maxZoomPercentinteger<int32> | null

mediaRegionstring | null

mediaStorageDeviceUuidstring<DeviceFacetUuid> | null

RUUID with optional appended facet information

Example: "AAAAAAAAAAAAAAAAAAAAAA.v0"

modeenum<string>

Available options: UNKNOWN, DOCKED, DISCOVERY, PATROL, MANUAL

mummifiedboolean | null

namestring | null

navPathnumber<double>[] | null

navPathTsMsinteger<int64> | null

navigationTimeSecnumber<double> | null

onCameraStateobject | null

onCloudStateobject | null

orientationnumber<double> | null

pathUpdatedAtMsinteger<int64> | null

phasestring | null

phaseEventstring | null

phaseUuidstring<RUUID> | null

base 64 (url-safe) uuid string

Example: "AAAAAAAAAAAAAAAAAAAAAA"

policyUuidstring<RUUID> | null

base 64 (url-safe) uuid string

Example: "AAAAAAAAAAAAAAAAAAAAAA"

poseobject

Show child attributes

orientationnumber<double>[] | null

Items: 4 to 4

positionnumber<double>[] | null

Items: 3 to 3

poseUpdatedAtMsinteger<int64> | null

positionnumber<double> | null

preemptedByobject

Show child attributes

activityenum<string>

priorityinteger<int32> | null

progressUpdatedAtMsinteger<int64> | null

regionstring | null

roamingLatitudenumber<double> | null

roamingLongitudenumber<double> | null

robotPlatformenum<string>

Available options: go2, go2_v2, go2_2d, diablo, diablo_2dlidar, turtlebot4, sim_turtlebot4, backpack_v1, doombot, unknown

robotPlatformCapabilityobject

Show child attributes

driveTypestring | null

facetOrientationDegreesobject | null

movementAxesobject[] | null

Show child attributes

maxnumber<double> | null

minnumber<double> | null

namestring | null

platformenum<string>

Available options: go2, go2_v2, go2_2d, diablo, diablo_2dlidar, turtlebot4, sim_turtlebot4, backpack_v1, doombot, unknown

postureAxesobject[] | null

Show child attributes

maxnumber<double> | null

minnumber<double> | null

namestring | null

supportedActionsstring[] | null

supportedAvoidanceModesstring[] | null

supportedFacetsenum<string>[] | null

routeUuidstring<RUUID> | null

base 64 (url-safe) uuid string

Example: "AAAAAAAAAAAAAAAAAAAAAA"

secondaryLanAddressesstring[] | null

serialNumberstring | null

ssidstring | null

stateUpdatedAtMsinteger<int64> | null

stateUpdatedTimestampMsinteger<int64> | null

subLocationsHierarchyKeystring<SubLocationsHierarchyKey> | null

A sequence of one or more base 64 (url-safe) uuid substrings. These substrings are separated by dots (.).

Pattern: ^([A-Za-z0-9\-_]{22})([.][A-Za-z0-9\-_]{22})*$

Example: "AAAAAAAAAAAAAAAAAAAAAA.AAAAAAAAAAAAAAAAAAAAAA.AAAAAAAAAAAAAAAAAAAAAA"

supportedFacetsenum<string>[] | null

updatedAtMsinteger<int64> | null

uuidstring<RUUID> | null

base 64 (url-safe) uuid string

Example: "AAAAAAAAAAAAAAAAAAAAAA"

versionsBehindinteger<int32> | null

waypointIndexinteger<int32> | null

waypointTotalinteger<int32> | null

waypointUuidstring<RUUID> | null

base 64 (url-safe) uuid string

Example: "AAAAAAAAAAAAAAAAAAAAAA"

wifiApMacstring | null

wifiBarsinteger<int32> | null

wifiSignalStrengthinteger<int32> | null