---
title: "Get Imu"
method: GET
path: "/api/state/imu"
---

# Get Imu

`GET /api/state/imu`

Get the latest IMU reading (accelerometer, gyroscope, quaternion, temperature).

Accelerations are in m/s², angular rates in rad/s, the quaternion is
w-first and the temperature in °C.
Returns None on versions without an IMU (Lite, simulation) or when the
cached reading has gone stale.

## Response `200`

Successful Response

- 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

## Changes

- **2026-08-11** `7f5f936a81cc` — 1 info
  - endpoint added

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