Get Robot State

Get operating, localization, battery, and sensor state for a specified robot.

Endpoint Information

• Name: Get robot status
• Description: Returns the current status of a robot.
• Method: POST
• Path: remoteApi/getDogStateData
• Login required: No
• Permission required: Yes

---

Request Parameters

Parameter	Type	Required	Example	Description
dogCode	String	Yes	001	Robot code

Example:

{
  "dogCode": "001"
}

Response

Field	Type	Description
dogCode	String	Robot code
dogModel	String	Robot model
groupName	String	Status group name
status	String	Property name
value	String	Property value
remark	String	Property description
alarmCondition	String	Alarm-threshold condition
alarm	Boolean	Whether the value is abnormal
unit	String	Unit

Example:

{
  "success": true,
  "code": 200,
  "msg": "操作成功",
  "data": {
    "dogCode": "2044338926658785280",
    "dogModel": "X30",
    "props": [
      {
        "groupName": "batteryData.title",
        "list": [
          {
            "status": "batteryData.electricity.title",
            "value": "100.0",
            "remark": "batteryData.electricity.remark",
            "alarmCondition": "v<33",
            "alarm": false,
            "unit": "%"
          },
          {
            "status": "batteryData.chargeState.title",
            "value": "1",
            "remark": "batteryData.chargeState.remark",
            "alarmCondition": "",
            "alarm": null,
            "unit": null
          },
          {
            "status": "batteryData.electricityIsLow.title",
            "value": "batteryData.electricityIsLow.0",
            "remark": "batteryData.electricityIsLow.remark",
            "alarmCondition": "v==1",
            "alarm": false,
            "unit": null
          }
        ]
      },
      {
        "groupName": "locationData.title",
        "list": [
          {
            "status": "locationData.location.title",
            "value": "locationData.location.0",
            "remark": "locationData.location.remark",
            "alarmCondition": "v==1",
            "alarm": false,
            "unit": null
          },
          {
            "status": "locationData.obsState.title",
            "value": "locationData.obsState.0",
            "remark": "locationData.obsState.remark",
            "alarmCondition": "v==1",
            "alarm": false,
            "unit": null
          },
          {
            "status": "locationData.floor.title",
            "value": "A29",
            "remark": "locationData.floor.remark",
            "alarmCondition": null,
            "alarm": null,
            "unit": null
          },
          {
            "status": "locationData.posX.title",
            "value": "8.75",
            "remark": "locationData.posX.remark",
            "alarmCondition": null,
            "alarm": null,
            "unit": "m"
          },
          {
            "status": "locationData.posY.title",
            "value": "-0.72",
            "remark": "locationData.posY.remark",
            "alarmCondition": null,
            "alarm": null,
            "unit": "m"
          },
          {
            "status": "locationData.posZ.title",
            "value": "-0.50",
            "remark": "locationData.posZ.remark",
            "alarmCondition": null,
            "alarm": null,
            "unit": "m"
          },
          {
            "status": "locationData.roll.title",
            "value": "0.00",
            "remark": "locationData.roll.remark",
            "alarmCondition": null,
            "alarm": null,
            "unit": "rad"
          },
          {
            "status": "locationData.pitch.title",
            "value": "0.00",
            "remark": "locationData.pitch.remark",
            "alarmCondition": null,
            "alarm": null,
            "unit": "rad"
          },
          {
            "status": "locationData.yaw.title",
            "value": "3.03",
            "remark": "locationData.yaw.remark",
            "alarmCondition": null,
            "alarm": null,
            "unit": "rad"
          }
        ]
      },
      {
        "groupName": "basicData.title",
        "list": [
          {
            "status": "basicData.connectState.title",
            "value": "basicData.connectState.0",
            "remark": "basicData.connectState.remark",
            "alarmCondition": "v==1",
            "alarm": false,
            "unit": null
          },
          {
            "status": "basicData.patrolState.title",
            "value": "basicData.patrolState.3",
            "remark": "basicData.patrolState.remark",
            "alarmCondition": null,
            "alarm": null,
            "unit": null
          },
          {
            "status": "basicData.webCtrlMode.title",
            "value": "basicData.webCtrlMode.1",
            "remark": "basicData.webCtrlMode.remark",
            "alarmCondition": null,
            "alarm": null,
            "unit": null
          },
          {
            "status": "basicData.motionState.title",
            "value": "basicData.motionState.X30_3",
            "remark": "basicData.motionState.remark",
            "alarmCondition": "v=='X30_7'",
            "alarm": false,
            "unit": null
          },
          {
            "status": "basicData.gaitState.title",
            "value": "basicData.gaitState.X30_0",
            "remark": "basicData.gaitState.remark",
            "alarmCondition": null,
            "alarm": null,
            "unit": null
          },
          {
            "status": "basicData.controlUsageMode.title",
            "value": "basicData.controlUsageMode.X30_1",
            "remark": "basicData.controlUsageMode.remark",
            "alarmCondition": null,
            "alarm": null,
            "unit": null
          }
        ]
      }
    ]
  }
}

State Properties and Enumerations

The response data is grouped in data.props[]: groupName identifies the group, while status and value in each list[] entry identify the property name and value. The following sections describe the properties by group. Each value in an enumeration table is the complete value returned by the API.

Battery Information

Group name: batteryData.title.

Battery Level

Property name: batteryData.electricity.title. value is the actual battery level.

Charging Status

Property name: batteryData.chargeState.title.

value	Meaning
"0"	Not charging
"1"	Charging

Low Battery Status

Property name: batteryData.electricityIsLow.title.

value	Meaning
batteryData.electricityIsLow.0	Normal
batteryData.electricityIsLow.1	Low

Localization Data

Group name: locationData.title.

Localization Status

Property name: locationData.location.title.

value	Meaning
locationData.location.0	Normal
locationData.location.1	Positioning lost

Obstacle Avoidance Status

Property name: locationData.obsState.title.

value	Meaning
locationData.obsState.0	No obstacle
locationData.obsState.1	Obstacle detected

Map, Coordinates, and Orientation

For the following properties, value contains the actual value.

Property (status)	Meaning
locationData.floor.title	Map floor
locationData.posX.title	x-coordinate
locationData.posY.title	y-coordinate
locationData.posZ.title	z-coordinate
locationData.roll.title	Roll angle
locationData.pitch.title	Pitch angle
locationData.yaw.title	Yaw angle

Basic Status Data

Group name: basicData.title.

Communication Status

Property name: basicData.connectState.title.

value	Meaning
basicData.connectState.0	Normal
basicData.connectState.1	Offline
basicData.connectState.2	RobotServer disconnected
basicData.connectState.3	Custom service disconnected

Inspection Status

Property name: basicData.patrolState.title.

value	Meaning
basicData.patrolState.1	Idle
basicData.patrolState.2	Inspecting
basicData.patrolState.3	Charging
basicData.patrolState.4	Maintenance

Control Mode

Property name: basicData.webCtrlMode.title.

value	Meaning
basicData.webCtrlMode.0	Semi-automatic navigation
basicData.webCtrlMode.1	Task mode
basicData.webCtrlMode.2	Remote-control mode

Motion State

Property name: basicData.motionState.title. Enumeration values are listed by robot model.

X30

value	Meaning
basicData.motionState.X30_0	Lying down
basicData.motionState.X30_1	Standing up
basicData.motionState.X30_2	Initial standing
basicData.motionState.X30_3	Force-controlled standing
basicData.motionState.X30_4	Stepping
basicData.motionState.X30_5	Lying down in progress
basicData.motionState.X30_6	Soft emergency stop
basicData.motionState.X30_7	Fallen
basicData.motionState.X30_16	RL

M20

value	Meaning
basicData.motionState.M20_0	Idle
basicData.motionState.M20_1	Standing
basicData.motionState.M20_2	Joint damping / soft emergency stop
basicData.motionState.M20_3	Startup damping
basicData.motionState.M20_4	Lying down
basicData.motionState.M20_6	Standard motion mode
basicData.motionState.M20_8	Agile motion mode
basicData.motionState.M20_17	RL control

Gait

Property name: basicData.gaitState.title. Enumeration values are listed by robot model.

X30

value	Meaning
basicData.gaitState.X30_0	Walking gait
basicData.gaitState.X30_1	Complex-terrain obstacle-crossing gait
basicData.gaitState.X30_2	Slope / anti-slip gait
basicData.gaitState.X30_6	Perception-based stair gait
basicData.gaitState.X30_7	Accumulated-frame stair gait
basicData.gaitState.X30_8	Accumulated-frame 45-degree stair gait
basicData.gaitState.X30_32	L-walking gait
basicData.gaitState.X30_33	Mountain gait

M20

value	Meaning
basicData.gaitState.M20_4097	Basic mode - flat ground
basicData.gaitState.M20_4098	Basic mode - high platform
basicData.gaitState.M20_4099	Basic mode - stairs
basicData.gaitState.M20_4100	Basic mode - rear-knee
basicData.gaitState.M20_4101	Basic mode - standing
basicData.gaitState.M20_8193	Extreme mode - movement
basicData.gaitState.M20_8194	Extreme mode - bipedal upright
basicData.gaitState.M20_8195	Extreme mode - bipedal handstand
basicData.gaitState.M20_8196	Extreme mode - jumping
basicData.gaitState.M20_12289	Navigation mode - autonomous charging
basicData.gaitState.M20_12290	Navigation mode - flat ground
basicData.gaitState.M20_12291	Navigation mode - stairs
basicData.gaitState.M20_12292	Autonomous-charging gait
basicData.gaitState.M20_12293	Navigation mode - off-road
basicData.gaitState.M20_20481	Intelligent mode - height-map trench crossing
basicData.gaitState.M20_20482	Intelligent mode - height-map stairs
basicData.gaitState.M20_20483	Intelligent mode - depth-map trench crossing
basicData.gaitState.M20_61441	Six-axis controllable standing
basicData.gaitState.M20_61442	Stepping movement

Usage Mode

Property name: basicData.controlUsageMode.title. Enumeration values are listed by robot model.

X30

value	Meaning
basicData.controlUsageMode.X30_0	Remote-control mode
basicData.controlUsageMode.X30_1	Automatic mode

M20

value	Meaning
basicData.controlUsageMode.M20_0	Standard mode
basicData.controlUsageMode.M20_1	Navigation mode
basicData.controlUsageMode.M20_2	Assist mode

Error Codes

Code	Description
400	Invalid parameters
401	Unauthorized
403	Access denied
404	Resource not found
500	Internal server error