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Get Full State

Get the full robot state, with optional fields.

get/api/state/full

Query parameters

with_control_modeboolean
with_head_poseboolean
with_target_head_poseboolean
with_head_jointsboolean
with_target_head_jointsboolean
with_body_yawboolean
with_target_body_yawboolean
with_antenna_positionsboolean
with_target_antenna_positionsboolean
with_passive_jointsboolean
with_doaboolean
with_imuboolean
use_pose_matrixboolean

Response

Successful Response

control_mode'enabled' | 'disabled' | 'gravity_compensation'

Enum for motor control modes.

head_jointsnumber[] nullable
body_yawnumber nullable
antennas_positionnumber[] nullable
timestampstring date-time nullable
passive_jointsnumber[] nullable

Changes

Changed in 2 of the 26 revisions of this API.4

  • 7f5f936a81cc2See the full diff
    • ○

      added the new optional query request parameter with_imu

      new-optional-request-parameter

    • ○

      added the optional property to the response with the status

      response-optional-property-added

  • 9843f2902e882See the full diff
    • ○

      added to the response property anyOf list for the response status

      response-property-any-of-added

    • ○

      removed from the response property anyOf list for the response status

      response-property-any-of-removed

    This revision also has 1 change that name no endpoint, such as unreferenced schemas being removed. See the revision's changelog