---
title: "Send a set of gps waypoints to the robot"
method: POST
path: "/v1/vehicles/{vehicleId}/gps-waypoints"
tags: ["Vehicle Autonomy"]
---

# Send a set of gps waypoints to the robot

`POST /v1/vehicles/{vehicleId}/gps-waypoints`

## Request

- Base URL: `https://api.polymathrobotics.dev`
- URL: `https://api.polymathrobotics.dev/v1/vehicles/{vehicleId}/gps-waypoints`
- Auth: HTTP bearer

Sends GPS waypoints and navigation options to the robot.

## Path parameters

- `vehicleId` string, required

## Request body

- GPSWaypoints: Base for request bodies: unknown fields are rejected instead of silently dropped.
  - `timestamp_utc` string: Timestamp in UTC ISO format. Should be provided in ISO 8601 format: 'YYYY-MM-DDTHH:MM:SSZ'. If not provided, it will default to the current UTC time.
  - `goals` GoalPoses[], required: Ordered list of GPS waypoints. When multiple waypoints are provided, the robot navigates through them continuously as a single path rather than stopping discretely at each one.
    - `timestamp_utc` string: Timestamp in UTC ISO format. Should be provided in ISO 8601 format: 'YYYY-MM-DDTHH:MM:SSZ'. If not provided, it will default to the current UTC time.
    - `lat` number, required: Latitude
    - `lon` number, required: Longitude
    - `yaw` number: Yaw (radians). 0.0 indicates east. positive yaw is counter-clockwise.
  - `navigation_options` CortexNavigationOptions: Base for request bodies: unknown fields are rejected instead of silently dropped.
    - `path_option` CortexOption: Base for request bodies: unknown fields are rejected instead of silently dropped.
      - `name` string, required
      - `params` KeyValuePair[], required
        - `key` string, required
        - `value` string, required
    - `mode` unknown

## Response `200`

Sent GPS waypoints and upstream service response.

- GPSWaypointTransmissionResponse
  - `status` string, required
  - `message` string, required
  - `data` GPSWaypointTransmissionData, required
    - `sent` GPSWaypoints, required: Base for request bodies: unknown fields are rejected instead of silently dropped.
      - `timestamp_utc` string: Timestamp in UTC ISO format. Should be provided in ISO 8601 format: 'YYYY-MM-DDTHH:MM:SSZ'. If not provided, it will default to the current UTC time.
      - `goals` GoalPoses[], required: Ordered list of GPS waypoints. When multiple waypoints are provided, the robot navigates through them continuously as a single path rather than stopping discretely at each one.
        - `timestamp_utc` string: Timestamp in UTC ISO format. Should be provided in ISO 8601 format: 'YYYY-MM-DDTHH:MM:SSZ'. If not provided, it will default to the current UTC time.
        - `lat` number, required: Latitude
        - `lon` number, required: Longitude
        - `yaw` number: Yaw (radians). 0.0 indicates east. positive yaw is counter-clockwise.
      - `navigation_options` CortexNavigationOptions: Base for request bodies: unknown fields are rejected instead of silently dropped.
        - `path_option` CortexOption: Base for request bodies: unknown fields are rejected instead of silently dropped.
          - `name` string, required
          - `params` KeyValuePair[], required
            - `key` string, required
            - `value` string, required
        - `mode` unknown
    - `received` unknown
    - `command_ids` string[]: Cortex-assigned ids for the accepted commands, aligned 1:1 with the commands sent and in the same order. Each is the goal id for its command; pass one to GET /command-history as command_id to look that command up once it finishes. Empty when cortex handled the request without queueing commands, as a RESUME motion command does.

## Other responses

- `422`: Validation Error
- `500`: Internal server error

## Changes

- **2026-09-09** `7bb062ddb622`: 1 info
  - endpoint added

[Operation history](https://skmtc.dev/polymathrobotics/apis/polymath-api/changes/v1/vehicles/:vehicleId/gps-waypoints/post.md)

---

[API](https://skmtc.dev/polymathrobotics/apis/polymath-api.md) - [All operations](https://skmtc.dev/polymathrobotics/apis/polymath-api/llms.txt) - [OpenAPI document](https://skmtc.dev/polymathrobotics/apis/polymath-api/revisions/3b5ff2f21338?raw)