Robot Status¶

Streaming endpoints that provide real-time updates on robot health, including battery levels, charging state, and connectivity.

GetRobotStatus¶

Get the latest robot state.

Robot state includes connectivity and operational states.

Request¶

robot_id `string` `required`¶

The ID of the robot to get status for.

JSON Request Example¶

JSON

  {
    "robotId": "pennybot-abc123"
  }

Response¶

robot_state `RobotState`¶

The current robot state including connectivity, battery, emergency stop, mission, pose, error information, and velocity.

Field	Message Type	Description
`connection`	`RobotConnection`	Connection state of the robot.
`battery`	`BatteryState`	Battery state of the robot.
`emergency_stop`	`EmergencyStopState`	Emergency stop state of the robot.
`mission`	`MissionState`	Mission state of the robot.
`pose`	`Pose`	Current pose of the robot.
`error_codes`	`ErrorCodes`	Error codes returned by the robot.
`typed_status`	oneof	Robot type-specific state information. Only one type may be set at a time.
`twist`	`Twist`	Current linear and angular velocity of the robot. Omitted when not reported by the robot.
`localization_state`	`LocalizationState`	Localization state of the robot.
`navigation_state`	`NavigationState`	Navigation-related state of the robot, including whether it is currently stuck.

Twist¶

Represents the current velocity of the robot in 2D (linear along the forward axis, angular around the vertical axis). Omitted when the robot does not report velocity.

Field	Message Type	Description
`linear_velocity`	`float`	Current speed along the robot's forward axis, in m/s. Positive for forward, negative for reverse.
`angular_velocity`	`float`	Current rotation rate, in rad/s. Positive for clockwise when viewed from above.

NavigationState¶

Represents navigation-related state for the robot.

Field	Message Type	Description
`stuck_state`	`StuckState`	Whether the robot is currently stuck (unable to make navigation progress) and, when known, the reason.

StuckState¶

Represents whether the robot is currently unable to make navigation progress, and the reason for it when known. "Stuck" is distinct from a mission failure: it is a transient, recoverable navigation condition (e.g., obstruction, restricted area) in which the robot has stopped moving but is otherwise healthy.

Field	Message Type	Description
`state`	`State` enum	Current stuck state of the robot.
`reason`	`Reason` enum	Reason the robot is stuck. Only meaningful when `state` is `STATE_STUCK`; otherwise expect `REASON_UNKNOWN`.

(StuckState) State `enum`¶

Name	Number	Description
STATE_UNKNOWN	0	Default unset value. Treat as an error if received.
STATE_NOT_STUCK	1	The robot is operating normally and not stuck.
STATE_STUCK	2	The robot is unable to make navigation progress. See `reason` for the cause when available.

(StuckState) Reason `enum`¶

Name	Number	Description
REASON_UNKNOWN	0	No reason reported. Set when `state` != `STATE_STUCK`, or when the upstream stack did not provide a discrete cause.
REASON_PATH_BLOCKED	1	The planned path is blocked at runtime by a dynamic obstacle.
REASON_DESTINATION_OBSTRUCTED	2	The destination cell is occupied by an obstacle. Reserved for future use; not currently emitted by the robot.
REASON_DESTINATION_UNREACHABLE	3	No feasible path exists to the destination. Reserved for future use; not currently emitted by the robot.
REASON_INSIDE_RESTRICTED_AREA	4	The robot is inside a restricted/annotated area it cannot leave (e.g., a no-go zone it was placed into).

RobotConnection¶

Represents the online connection state between the cloud and the robot.

Field	Message Type	Description
`state`	`State` enum	Current connection state of the robot.

BatteryState¶

Represents the state of the robot's battery system.

Field	Message Type	Description
`charge_percent`	`int32`	State of charge, from 0 (empty) to 100 (fully charged).
`state`	`State` enum	High-level charging state of the battery.
`charge_method`	`ChargeMethod` enum	Method by which the robot is being charged.

EmergencyStopState¶

Represents the state of the robot's emergency stop system.

Field	Message Type	Description
`emergency`	`Emergency` enum	Whether the software level emergency stop is engaged.
`button_pressed`	`Emergency` enum	Whether the physical emergency stop button is engaged.

ErrorCodes¶

Represents the error codes returned by the robot.

Field	Message Type	Description
`codes`	repeated `ErrorCode`	List of error codes currently active on the robot. See SubscribeErrorCodes for the `ErrorCode` and `Severity` definitions.

typed_status `oneof`¶

Robot type-specific state information. Only one type may be set at a time.

Field (oneof)	Message Type	Description
`servi_state`	`ServiState`	Servi-specific robot state (only for Servi robots).
`carti_state`	`CartiState`	Carti-specific robot state (only for Carti robots).

(RobotConnection) State `enum`¶

Name	Number	Description
STATE_UNKNOWN	0	Default value. It means the `state` field is not returned.
STATE_CONNECTED	1	The robot is connected to Bear cloud services.
STATE_DISCONNECTED	2	The robot is offline or unreachable from the cloud.

(BatteryState) State `enum`¶

Name	Number	Description
STATE_UNKNOWN	0	Default value. It means the `state` field is not returned.
STATE_CHARGING	1	Battery is currently charging.
STATE_DISCHARGING	2	Robot is not connected to a charger and is consuming battery power.
STATE_FULL	3	Battery is fully charged while connected to a charger; no additional energy is being stored.

ChargeMethod `enum`¶

Name	Number	Description
CHARGE_METHOD_UNKNOWN	0	Default value. It means the `charge_method` field is not returned.
CHARGE_METHOD_NONE	1	No charging method is currently active or applicable.
CHARGE_METHOD_WIRED	2	Charging via a wired connection.
CHARGE_METHOD_CONTACT	3	Charging via contact-based interface (e.g., docking station).

Emergency `enum`¶

Name	Number	Description
EMERGENCY_UNKNOWN	0	Default value. It means the `emergency` field is not returned.
EMERGENCY_ENGAGED	1	Triggers an emergency stop. Overrides and sets navigation-related velocity command to 0 to the motor.
EMERGENCY_DISENGAGED	2	Wheels will resume acting upon software navigation commands.

JSON Response Example¶

JSON

  {
    "robotState": {
      "connection": {
        "state": "STATE_CONNECTED"
      },
      "battery": {
        "chargePercent": 85,
        "state": "STATE_CHARGING",
        "chargeMethod": "CHARGE_METHOD_CONTACT"
      },
      "emergencyStop": {
        "emergency": "EMERGENCY_DISENGAGED",
        "buttonPressed": "EMERGENCY_DISENGAGED"
      },
      "mission": {
        "missionId": "mission-123",
        "state": "STATE_RUNNING",
        "goals": [],
        "currentGoalIndex": 0
      },
      "pose": {
        "xMeters": 1.5,
        "yMeters": 2.8,
        "headingRadians": 0.78
      },
      "errorCodes": {
        "codes": [
          { "code": 1001, "severity": "SEVERITY_MEDIUM", "message": "Low battery warning" },
          { "code": 2042, "severity": "SEVERITY_HIGH", "message": "Camera connection lost" }
        ]
      },
      "twist": {
        "linearVelocity": 0.5,
        "angularVelocity": 0.0
      },
      "navigationState": {
        "stuckState": {
          "state": "STATE_NOT_STUCK",
          "reason": "REASON_UNKNOWN"
        }
      },
      "serviState": {
        "trayStates": {
          "trayStates": [
            {
              "trayName": "top",
              "loadState": "LOAD_STATE_LOADED",
              "weightKg": 2.5,
              "loadRatio": 0.8
            },
            {
              "trayName": "middle",
              "loadState": "LOAD_STATE_EMPTY",
              "weightKg": 0.0,
              "loadRatio": 0.0
            }
          ]
        }
      }
    }
  }

Errors¶

ErrorCode	Description
`INVALID_ARGUMENT`	Invalid request parameters. Tips: check that `robot_id` is not empty.
`PERMISSION_DENIED`	Attempting to get status for a `robot_id` you don't own. Tip: check the spelling of the `robot_id` value.
`INTERNAL`	Communication failure with the robot.

SubscribeBatteryStatus¶

Streaming mode: event

A server side streaming RPC endpoint to get battery state updates for the robot.

Upon subscription, the latest battery state is sent immediately. Updates are streamed whenever the state changes.

Request¶

selector `RobotSelector` `required`¶

RobotSelector is used to select specific robots.
It supports selection by a list of robot IDs OR all robots at a given location.

Field	Message Type	Description
`robot_ids`	`RobotIDs`	Selects robots by their specific IDs. Example: `["pennybot-123abc", "pennybot-abc123"]`
`location_id`	`string`	Selects all robots at the specified location.

JSON Request Example¶

JSON

  {
    "selector": {
      "robotIds": {
        "ids": ["pennybot-abc123", "pennybot-123abc"]
      }
    }
  }

Response¶

metadata `EventMetadata`¶

Field	Message Type	Description
`timestamp`	`Timestamp`	The time when the event was recorded.
`sequence_number`	`int64`	An incremental sequence number generated by the robot. The sequence number should never be negative and can be reset to 0. i.e. sequence is valid if it is larger than the previous number or 0.

robot_id `string`¶

The robotID the message is associated with.

BatteryState¶

Represents the state of the robot's battery system.

Field	Message Type	Description
`charge_percent`	`int32`	State of charge, from 0 (empty) to 100 (fully charged).
`state`	`State` enum	High-level charging state of the battery.
`charge_method`	`ChargeMethod` enum	Method by which the robot is being charged.

State `enum`¶

Name	Number	Description
STATE_UNKNOWN	0	Default value. It means the `state` field is not returned.
STATE_CHARGING	1	Battery is currently charging.
STATE_DISCHARGING	2	Robot is not connected to a charger and is consuming battery power.
STATE_FULL	3	Battery is fully charged while connected to a charger; no additional energy is being stored.

ChargeMethod `enum`¶

Name	Number	Description
CHARGE_METHOD_UNKNOWN	0	Default value. It means the `charge_method` field is not returned.
CHARGE_METHOD_NONE	1	No charging method is currently active or applicable.
CHARGE_METHOD_WIRED	2	Charging via a wired connection.
CHARGE_METHOD_CONTACT	3	Charging via contact-based interface (e.g., docking station).

JSON Response Examples¶

JSON

{
  "metadata": {
    "timestamp": "2025-04-01T16:45:00Z",
    "sequenceNumber": 112
  },
  "robotId": "pennybot-123abc",
  "batteryState": {
    "chargePercent": 78,
    "state": "STATE_CHARGING",
    "chargeMethod": "CHARGE_METHOD_CONTACT"
  }
}
{
  "metadata": {
    "timestamp": "2025-04-01T16:45:02Z",
    "sequenceNumber": 113
  },
  "robotId": "pennybot-abc123",
  "batteryState": {
    "chargePercent": 42,
    "state": "STATE_DISCHARGING",
    "chargeMethod": "CHARGE_METHOD_NONE"
  }
}

Errors¶

ErrorCode	Description
`INVALID_ARGUMENT`	Invalid request parameters. Tips: check that `selector` is not null, `robot_ids` is not empty, or `location_id` is not empty.
`NOT_FOUND`	No robots found for the specified `location_id`.
`PERMISSION_DENIED`	Attempting to request status for a `robot_id` or `location_id` you don't own. Tip: check the spelling of all `robot_id` or `location_id` values.
`INTERNAL`	Internal server error occurred while processing the request.

SubscribeErrorCodes¶

Streaming mode: event

A server side streaming RPC endpoint to subscribe to error codes returned by the robot.

Upon subscription, the latest known error codes are sent immediately. Updates are streamed when error codes change.

Request¶

selector `RobotSelector` `required`¶

RobotSelector is used to select specific robots. It supports selection by a list of robot IDs OR all robots at a given location.

Field	Message Type	Description
`robot_ids`	`RobotIDs`	Selects robots by their specific IDs. Example: `["pennybot-123abc", "pennybot-abc123"]`
`location_id`	`string`	Selects all robots at the specified location.

JSON Request Example¶

JSON

  {
    "selector": {
      "robotIds": {
        "ids": ["pennybot-abc123", "pennybot-123abc"]
      }
    }
  }

Response¶

error_codes `map<string, ErrorCodesWithMetadata>`¶

A mapping of error codes returned by individual robots. Each entry pairs a robot ID (key) with a corresponding error code and metadata. Note that each robot maintains its own metadata, so messages should be correlated if and only if they correspond to the same robot ID.

ErrorCodesWithMetadata¶

Field	Message Type	Description
`metadata`	`EventMetadata`	Metadata associated with the error codes.
`codes`	repeated `ErrorCode`	The error codes reported by the robot.

ErrorCode¶

Field	Message Type	Description
`code`	`int32`	Integer code indicating the type of error. Does not indicate severity.
`severity`	`Severity` enum	Level of criticality of an error.
`message`	`string`	Message about the error e.g. "Up camera process error."

Severity `enum`¶

Name	Number	Description
SEVERITY_UNKNOWN	0	Default value. It means the `severity` field is not returned.
SEVERITY_LOW	1	Low severity indicates an identified issue that is not visible.
SEVERITY_MEDIUM	2	Medium severity indicates an identified issue that does not block operation.
SEVERITY_HIGH	3	High severity indicates an identified issue that blocks operation.

JSON Response Example¶

JSON

{
  "errorCodes": {
    "pennybot-abc123": {
      "metadata": {
        "timestamp": "2025-04-01T17:10:00Z",
        "sequenceNumber": 215
      },
      "codes": [
        {
          "code": 1001,
          "severity": "SEVERITY_MEDIUM",
          "message": "Low battery warning"
        },
        {
          "code": 2042,
          "severity": "SEVERITY_HIGH",
          "message": "Camera connection lost"
        }
      ]
    },
    "pennybot-123abc": {
      "metadata": {
        "timestamp": "2025-04-01T17:10:00Z",
        "sequenceNumber": 216
      },
      "codes": []
    }
  }
}

Errors¶

ErrorCode	Description
`INVALID_ARGUMENT`	Invalid request parameters. Tips: check that `selector` is not null, `robot_ids` is not empty, or `location_id` is not empty.
`NOT_FOUND`	No robots found for the specified `location_id`.
`PERMISSION_DENIED`	Attempting to request error codes for a `robot_id` or `location_id` you don't own. Tip: check the spelling of all `robot_id` or `location_id` values.
`INTERNAL`	Internal server error occurred while processing the request.

SubscribeNavigationStatus¶

Streaming mode: event

A server side streaming RPC endpoint to subscribe to the navigation-related state of the selected robots.

Upon subscription, the latest known navigation state of each selected robot is sent immediately. Subsequent updates are streamed as the state changes. Each response carries the robot_id it pertains to, so a single stream can fan in updates from every robot in the selector.

The stuck state indicates the robot is unable to make navigation progress (e.g., blocked by an obstacle or inside a restricted area) and is distinct from a mission failure.

Tip

Prefer this RPC over SubscribeRobotStatus when only the navigation signal is of interest; the full robot status carries more data and updates more frequently.

Request¶

selector `RobotSelector` `required`¶

RobotSelector is used to select specific robots.
It supports selection by a list of robot IDs OR all robots at a given location.

Field	Message Type	Description
`robot_ids`	`RobotIDs`	Selects robots by their specific IDs. Example: `["pennybot-123abc", "pennybot-abc123"]`
`location_id`	`string`	Selects all robots at the specified location.

JSON Request Example¶

JSON

  {
    "selector": {
      "robotIds": {
        "ids": ["pennybot-abc123", "pennybot-123abc"]
      }
    }
  }

Response¶

metadata `EventMetadata`¶

Field	Message Type	Description
`timestamp`	`Timestamp`	The time when the event was recorded.
`sequence_number`	`int64`	An incremental sequence number generated by the robot. The sequence number should never be negative and can be reset to 0. i.e. sequence is valid if it is larger than the previous number or 0.

robot_id `string`¶

The robotID the message is associated with. Because each robot maintains its own metadata, correlate messages only when they share the same robot_id.

navigation_state `NavigationState`¶

The current navigation-related state of the robot. See NavigationState and StuckState for field and enum definitions.

JSON Response Example¶

JSON

{
  "metadata": {
    "timestamp": "2025-04-01T17:20:00Z",
    "sequenceNumber": 87
  },
  "robotId": "pennybot-abc123",
  "navigationState": {
    "stuckState": {
      "state": "STATE_STUCK",
      "reason": "REASON_PATH_BLOCKED"
    }
  }
}
{
  "metadata": {
    "timestamp": "2025-04-01T17:20:03Z",
    "sequenceNumber": 88
  },
  "robotId": "pennybot-123abc",
  "navigationState": {
    "stuckState": {
      "state": "STATE_NOT_STUCK",
      "reason": "REASON_UNKNOWN"
    }
  }
}

Errors¶

ErrorCode	Description
`INVALID_ARGUMENT`	Invalid request parameters. Tips: check that `selector` is not null, `robot_ids` is not empty, or `location_id` is not empty.
`NOT_FOUND`	No robots found for the specified `location_id`.
`PERMISSION_DENIED`	Attempting to request status for a `robot_id` or `location_id` you don't own. Tip: check the spelling of all `robot_id` or `location_id` values.
`INTERNAL`	Internal server error occurred while processing the request.

SubscribeNetworkStatus¶

Streaming mode: event

A server side streaming RPC endpoint to subscribe to network status updates for robots.

Upon subscription, the latest known network states are sent immediately. Updates are streamed when any network state changes.

Request¶

selector `RobotSelector` `required`¶

RobotSelector is used to select specific robots. It supports selection by a list of robot IDs OR all robots at a given location.

Field	Message Type	Description
`robot_ids`	`RobotIDs`	Selects robots by their specific IDs. Example: `["pennybot-123abc", "pennybot-abc123"]`
`location_id`	`string`	Selects all robots at the specified location.

JSON Request Example¶

JSON

  {
    "selector": {
      "robotIds": {
        "ids": ["pennybot-abc123", "pennybot-123abc"]
      }
    }
  }

Response¶

network_states `map<string, NetworkStateWithMetadata>`¶

A mapping of network states reported by individual robots. Each entry pairs a robot ID (key) with its corresponding network state and metadata. Note that each robot maintains its own metadata, so messages should be correlated if and only if they correspond to the same robot ID.

NetworkStateWithMetadata¶

Field	Message Type	Description
`metadata`	`EventMetadata`	Metadata associated with the network state.
`connected_wifi`	`Wifi` optional	Current network connection of the robot. If the field is not set, it indicates that the robot is not connected to any Wi-Fi networks.

Wifi¶

Represents the Wifi connection of a robot.

Field	Message Type	Description
`ssid`	`string`	SSID of the Wi-Fi network (not necessarily unique).
`signal_level_dbm`	`int32`	Signal level of the Wifi in dBm.
`link_quality`	`int32`	Link quality of the Wifi. Ranges from 0 to 70, where 70 is highest quality.
`security`	`Security` enum	Security requirements for the network.

Security `enum`¶

Name	Number	Description
SECURITY_UNKNOWN	0	Default value. It means the `security` field is not returned.
SECURITY_UNSECURED	1	Unsecured network that do not require any authentication.
SECURITY_PASSWORD_SECURED	2	Password secured network. e.g. WPA2, WPA3 and WEP networks
SECURITY_USERNAME_PASSWORD_SECURED	3	Login required network. i.e. Enterprise networks

Errors¶

ErrorCode	Description
`INVALID_ARGUMENT`	Invalid request parameters. Tips: check that `selector` is not null, `robot_ids` is not empty, or `location_id` is not empty.
`NOT_FOUND`	No robots found for the specified `location_id`.
`PERMISSION_DENIED`	Attempting to request network status for a `robot_id` or `location_id` you don't own. Tip: check the spelling of all `robot_id` or `location_id` values.
`INTERNAL`	Internal server error occurred while processing the request.

JSON Response Example¶

JSON

{
  "networkStates": {
    "pennybot-abc123": {
      "metadata": {
        "timestamp": "2025-04-01T16:00:00Z",
        "sequenceNumber": 105
      },
      "connectedWifi": {
        "ssid": "BearRobotics-Office",
        "signalLevelDbm": -45,
        "linkQuality": 65,
        "security": "SECURITY_PASSWORD_SECURED"
      }
    },
    "pennybot-123abc": {
      "metadata": {
        "timestamp": "2025-04-01T16:00:00Z",
        "sequenceNumber": 106
      }
    }
  }
}

SubscribeOnlineStatus¶

Streaming mode: event

A server side streaming RPC endpoint to subscribe to the cloud-to-robot connection state for a fleet of robots.

Upon subscription:

The latest known connection state for each selected robot is sent immediately.
Updates are streamed as robots connect or disconnect.

Request¶

selector `RobotSelector` `required`¶

RobotSelector is used to select specific robots.
It supports selection by a list of robot IDs OR all robots at a given location.

Field	Message Type	Description
`robot_ids`	`RobotIDs`	Selects robots by their specific IDs. Example: `["pennybot-123abc", "pennybot-abc123"]`
`location_id`	`string`	Selects all robots at the specified location.

JSON Request Example¶

JSON

  {
    "selector": {
      "robotIds": {
        "ids": ["pennybot-abc123", "pennybot-123abc"]
      }
    }
  }

Response¶

online_states `map<string, RobotConnectionWithMetadata>`¶

A mapping of online states reported by individual robots. Each entry pairs a robot ID (key) with its corresponding connection state and metadata. Note that each robot maintains its own metadata, so messages should be correlated if and only if they correspond to the same robot ID.

RobotConnectionWithMetadata¶

Field	Message Type	Description
`metadata`	`EventMetadata`	Metadata associated with the event.
`connection`	`RobotConnection`	Connection state of the robot.

JSON Response Example¶

JSON

{
  "onlineStates": {
    "pennybot-abc123": {
      "metadata": {
        "timestamp": "2025-04-01T17:40:00Z",
        "sequenceNumber": 12
      },
      "connection": {
        "state": "STATE_CONNECTED"
      }
    },
    "pennybot-123abc": {
      "metadata": {
        "timestamp": "2025-04-01T17:40:01Z",
        "sequenceNumber": 9
      },
      "connection": {
        "state": "STATE_DISCONNECTED"
      }
    }
  }
}

Errors¶

ErrorCode	Description
`INVALID_ARGUMENT`	Invalid request parameters. Tips: check that `selector` is not null, `robot_ids` is not empty, or `location_id` is not empty.
`NOT_FOUND`	No robots found for the specified `location_id`.
`PERMISSION_DENIED`	Attempting to request status for a `robot_id` or `location_id` you don't own. Tip: check the spelling of all `robot_id` or `location_id` values.
`INTERNAL`	Internal server error occurred while processing the request.

SubscribeRobotStatus¶

Streaming mode: hybrid · When to use this vs. individual endpoints

A server side streaming RPC endpoint to get the robot's connectivity and operational state.

Upon subscription, the latest robot state is sent immediately. Updates are streamed as the robot's state changes.

Request¶

selector `RobotSelector` `required`¶

RobotSelector is used to select specific robots.
It supports selection by a list of robot IDs OR all robots at a given location.

Field	Message Type	Description
`robot_ids`	`RobotIDs`	Selects robots by their specific IDs. Example: `["pennybot-123abc", "pennybot-abc123"]`
`location_id`	`string`	Selects all robots at the specified location.

JSON Request Example¶

JSON

  {
    "selector": {
      "robotIds": {
        "ids": ["pennybot-abc123", "pennybot-123abc"]
      }
    }
  }

Response¶

metadata `EventMetadata`¶

Field	Message Type	Description
`timestamp`	`Timestamp`	The time when the event was recorded.
`sequence_number`	`int64`	An incremental sequence number generated by the robot. The sequence number should never be negative and can be reset to 0. i.e. sequence is valid if it is larger than the previous number or 0.

robot_id `string`¶

The robotID the message is associated with.

robot_state `RobotState`¶

The current robot state including connectivity, battery, emergency stop, mission, pose, error information, and velocity.

Field	Message Type	Description
`connection`	`RobotConnection`	Connection state of the robot.
`battery`	`BatteryState`	Battery state of the robot.
`emergency_stop`	`EmergencyStopState`	Emergency stop state of the robot.
`mission`	`MissionState`	Mission state of the robot.
`pose`	`Pose`	Current pose of the robot.
`error_codes`	`ErrorCodes`	Error codes returned by the robot.
`typed_status`	oneof	Robot type-specific state information. Only one type may be set at a time.
`twist`	`Twist`	Current linear and angular velocity of the robot. Omitted when not reported by the robot.
`localization_state`	`LocalizationState`	Localization state of the robot.
`navigation_state`	`NavigationState`	Navigation-related state of the robot, including whether it is currently stuck.

JSON Response Example¶

JSON

{
  "metadata": {
    "timestamp": "2025-04-01T17:05:00Z",
    "sequenceNumber": 211
  },
  "robotId": "pennybot-123abc",
  "robotState": {
    "connection": {
      "state": "STATE_CONNECTED"
    },
    "battery": {
      "chargePercent": 75,
      "state": "STATE_CHARGING",
      "chargeMethod": "CHARGE_METHOD_CONTACT"
    },
    "emergencyStop": {
      "emergency": "EMERGENCY_DISENGAGED",
      "buttonPressed": "EMERGENCY_DISENGAGED"
    },
    "mission": {
      "missionId": "mission-456",
      "state": "STATE_RUNNING",
      "goals": [
        {
          "goal": {
            "pose": {
              "xMeters": 5.2,
              "yMeters": 3.1,
              "headingRadians": 0.0
            }
          }
        }
      ],
      "currentGoalIndex": 1
    },
    "pose": {
      "xMeters": 2.1,
      "yMeters": 1.8,
      "headingRadians": 1.2
    },
    "errorCodes": {
      "codes": [
        { "code": 1001, "severity": "SEVERITY_MEDIUM", "message": "Low battery warning" },
        { "code": 2042, "severity": "SEVERITY_HIGH", "message": "Camera connection lost" }
      ]
    },
    "twist": {
      "linearVelocity": 0.3,
      "angularVelocity": 0.0
    },
    "navigationState": {
      "stuckState": {
        "state": "STATE_STUCK",
        "reason": "REASON_PATH_BLOCKED"
      }
    }
  }
}

Errors¶

ErrorCode	Description
`INVALID_ARGUMENT`	Invalid request parameters. Tips: check that `selector` is not null, `robot_ids` is not empty, or `location_id` is not empty.
`NOT_FOUND`	No robots found for the specified `location_id`.
`PERMISSION_DENIED`	Attempting to request status for a `robot_id` or `location_id` you don't own. Tip: check the spelling of all `robot_id` or `location_id` values.
`INTERNAL`	Internal server error occurred while processing the request.

Robot Status¶

GetRobotStatus¶

Request¶

robot_id string required¶

JSON Request Example¶

Response¶

robot_state RobotState¶

Twist¶

NavigationState¶

StuckState¶

(StuckState) State enum¶

(StuckState) Reason enum¶

RobotConnection¶

BatteryState¶

EmergencyStopState¶

ErrorCodes¶

typed_status oneof¶

(RobotConnection) State enum¶

(BatteryState) State enum¶

ChargeMethod enum¶

Emergency enum¶

JSON Response Example¶

Errors¶

SubscribeBatteryStatus¶

Request¶

selector RobotSelector required¶

JSON Request Example¶

Response¶

metadata EventMetadata¶

robot_id string¶

BatteryState¶

State enum¶

ChargeMethod enum¶

JSON Response Examples¶

Errors¶

SubscribeErrorCodes¶

Request¶

selector RobotSelector required¶

JSON Request Example¶

Response¶

error_codes map<string, ErrorCodesWithMetadata>¶

ErrorCodesWithMetadata¶

ErrorCode¶

Severity enum¶

JSON Response Example¶

Errors¶

SubscribeNavigationStatus¶

Request¶

selector RobotSelector required¶

JSON Request Example¶

Response¶

metadata EventMetadata¶

robot_id string¶

navigation_state NavigationState¶

JSON Response Example¶

Errors¶

SubscribeNetworkStatus¶

Request¶

selector RobotSelector required¶

JSON Request Example¶

Response¶

network_states map<string, NetworkStateWithMetadata>¶

NetworkStateWithMetadata¶

Wifi¶

Security enum¶

Errors¶

JSON Response Example¶

SubscribeOnlineStatus¶

Request¶

selector RobotSelector required¶

JSON Request Example¶

Response¶

online_states map<string, RobotConnectionWithMetadata>¶

RobotConnectionWithMetadata¶

JSON Response Example¶

Errors¶

SubscribeRobotStatus¶

Request¶

selector RobotSelector required¶

JSON Request Example¶

robot_id `string` `required`¶

robot_state `RobotState`¶

(StuckState) State `enum`¶

(StuckState) Reason `enum`¶

typed_status `oneof`¶

(RobotConnection) State `enum`¶

(BatteryState) State `enum`¶

ChargeMethod `enum`¶

Emergency `enum`¶

selector `RobotSelector` `required`¶

metadata `EventMetadata`¶

robot_id `string`¶

State `enum`¶

ChargeMethod `enum`¶

selector `RobotSelector` `required`¶

error_codes `map<string, ErrorCodesWithMetadata>`¶

Severity `enum`¶

selector `RobotSelector` `required`¶

metadata `EventMetadata`¶

robot_id `string`¶

navigation_state `NavigationState`¶

selector `RobotSelector` `required`¶

network_states `map<string, NetworkStateWithMetadata>`¶

Security `enum`¶

selector `RobotSelector` `required`¶

online_states `map<string, RobotConnectionWithMetadata>`¶

selector `RobotSelector` `required`¶

metadata `EventMetadata`¶

robot_id `string`¶

robot_state `RobotState`¶