---
title: "Get Full State"
method: GET
path: "/api/state/full"
---

# Get Full State

`GET /api/state/full`

Get the full robot state, with optional fields.

## Query parameters

- `with_control_mode` boolean
- `with_head_pose` boolean
- `with_target_head_pose` boolean
- `with_head_joints` boolean
- `with_target_head_joints` boolean
- `with_body_yaw` boolean
- `with_target_body_yaw` boolean
- `with_antenna_positions` boolean
- `with_target_antenna_positions` boolean
- `with_passive_joints` boolean
- `with_doa` boolean
- `with_imu` boolean
- `use_pose_matrix` boolean

## Response `200`

Successful Response

- FullState — Represent the full state of the robot including all joint positions and poses.
  - `control_mode` 'enabled' | 'disabled' | 'gravity_compensation' — Enum for motor control modes.
  - `head_pose` union
    - XYZRPYPose — Represent a 3D pose using position (x, y, z) in meters and orientation (roll, pitch, yaw) angles in radians.
      - `x` number
      - `y` number
      - `z` number
      - `roll` number
      - `pitch` number
      - `yaw` number
    - Matrix4x4Pose — Represent a 3D pose by its 4x4 transformation matrix (translation is expressed in meters).
      - `m` unknown[], required
        - unknown
  - `head_joints` number[], nullable
  - `body_yaw` number, nullable
  - `antennas_position` number[], nullable
  - `timestamp` string, date-time, nullable
  - `passive_joints` number[], nullable
  - `doa` DoaSnapshot — Sound Direction of Arrival reading (ReSpeaker mic array). ``angle`` is in radians: 0 = left, π/2 = front, π = right.
    - `angle` number, required
    - `speech_detected` boolean, required
  - `imu` ImuData — IMU sensor reading (BMI088, wireless version only). The payload half of :class:`ImuDataMsg`, reused wherever the reading is carried without the legacy WS discriminator (state snapshots, REST replies).
    - `accelerometer` number[], required
    - `gyroscope` number[], required
    - `quaternion` number[], required
    - `temperature` number, required

## Other responses

- `422` — Validation Error

## Changes

- **2026-08-11** `7f5f936a81cc` — 2 info
  - added the new optional `query` request parameter `with_imu`
  - added the optional property `imu` to the response with the `200` status
- **2026-08-06** `9843f2902e88` — 2 info
  - added `#/components/schemas/DoaSnapshot` to the `doa` response property `anyOf` list for the response status `200`
  - removed `#/components/schemas/DoAInfo` from the `doa` response property `anyOf` list for the response status `200`

[Change history](https://skmtc.dev/pollen-robotics/apis/reachy-mini-rest-api/changes/api/state/full/get.md)

---

[API](https://skmtc.dev/pollen-robotics/apis/reachy-mini-rest-api.md) · [All operations](https://skmtc.dev/pollen-robotics/apis/reachy-mini-rest-api/llms.txt) · [OpenAPI document](https://skmtc-service-production.skmtc.workers.dev/v1/apis/pollen-robotics/reachy-mini-rest-api/revisions/7f5f936a81cc/schema)