Polymath API Reference

All endpoints exposed by the Polymath robot API, grouped by function. Click any endpoint to see its full request/response documentation.

↓ Download OpenAPI spec

Clients authenticate with these API endpoints with a Bearer Token. See Authentication.

Health Check

Contains UUID endpoint that can be used to health check the robot

GET/v2/versionGet the version of the Polymath systemGET/v2/healthHealth check endpointGET/v2/uuidGet the UUID of the Polymath system

Vehicle Autonomy

All endpoints related to interacting with Robot's autonomy operations here

GET/v2/polymath-feedbackGet the combined Autonomy, Navigation and Vehicle feedback from the Polymath systemGET/v2/costmap/boundaryGet global costmap boundary coordinatesGET/v2/navigation-path-optionsGet the available Navigation Path Options and associated ParametersGET/v2/motion-commandsGet the available motion commandsGET/v2/reference-targetsGet all previously set reference targetsPOST/v2/reference-targetsSet the location and details of a reference location or an objectPOST/v2/reference-targets/current-locationSet a reference target at the current robot locationPOST/v2/gps-waypointsSend a set of gps waypoints to the robotPOST/v2/relative-waypointsSend a set of relative waypoints to the robotPOST/v2/motion-commandSend a motion command to the robot to change its current state

Vehicle Operations

All endpoints related to interacting with Robot's vehicle operations here

GET/v2/vehicle-commandsGet the available Vehicle Commands and associated ParametersPOST/v2/vehicle-commandSend a vehicle command to the robot

Media

All endpoints related to interacting with Robot's media resources

GET/v2/media/streamsList Media Devices

Teleop Control

Endpoints for managing control leases

POST/v2/teleop-control/acquireAcquire control lease granting exclusive access to teleopPOST/v2/teleop-control/renewRenew existing control leasePOST/v2/teleop-control/releaseRelease the current control leasePOST/v2/teleop-control/transferTransfer control lease to another userGET/v2/teleop-control/statusGet current control lease status

Livekit

GET/v2/livekit/configGet LiveKit discovery configurationPOST/v2/livekit/tokenGenerate a Livekit access tokenGET/v2/livekit/roomGet the current status of the roomPOST/v2/livekit/roomCreate a livekit room on this robotDELETE/v2/livekit/roomDisconnect from the current roomPOST/v2/livekit/room/trackCreate a track on the current roomDELETE/v2/livekit/room/trackDelete a track from the current room

CANBus

GET/v2/canbus/interfacesGet the list of available CAN interfaces on the system

systemd

GET/v2/systemd/{path}Proxy Systemd RequestPOST/v2/systemd/{path}Proxy Systemd Request

filesystem

GET/v2/fs/healthHealth check for dufs serviceGET/v2/fs/recursive-listList files and directories recursivelyGET/v2/fs/{path}Get file or directoryDELETE/v2/fs/{path}Delete file or directory

ros

GET/v2/ros/{path}Proxy Systemd RequestPOST/v2/ros/{path}Proxy Systemd Request