Slamware RESTful API

https://docs.slamtec.com/
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Slamware RESTful API provides comprehensive control and communication interfaces for Slamtec robots...
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### POST /api/core/application/v1/apps

Source: https://docs.slamtec.com/opt/swagger-conf.json

Installs a new application.

```APIDOC
## POST /api/core/application/v1/apps

### Description
Installs a new application.

### Method
POST

### Endpoint
/api/core/application/v1/apps

### Request Body
- **binary** (object) - The application file to install.

### Responses
#### Success Response (200)
- **OK**
#### Error Response (500)
- **Failed to install application**
```

--------------------------------

### GET /api/core/application/v1/apps

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves a list of all custom installed applications.

```APIDOC
## GET /api/core/application/v1/apps

### Description
Retrieves a list of all custom installed applications.

### Method
GET

### Endpoint
/api/core/application/v1/apps

### Responses
#### Success Response (200)
- **array** (object) - OK
  - **name** (string) - Required - The name of the application.
  - **version** (string) - The version of the application.
```

--------------------------------

### GET /api/core/system/v1/capabilities

Source: https://docs.slamtec.com/

Retrieves the capabilities supported by the robot.

```APIDOC
## GET /api/core/system/v1/capabilities

### Description
Retrieves the capabilities supported by the robot.

### Method
GET

### Endpoint
/api/core/system/v1/capabilities
```

--------------------------------

### PUT /api/delivery/v1/tasks/:start_pickup

Source: https://docs.slamtec.com/opt/swagger-conf.json

Notifies the robot that the user has started the pickup process.

```APIDOC
## PUT /api/delivery/v1/tasks/:start_pickup

### Description
Notifies the robot that the user is starting to pick up items. Used for robots with compartments.

### Method
PUT

### Endpoint
/api/delivery/v1/tasks/:start_pickup
```

--------------------------------

### GET /api/delivery/v1/settings

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves the delivery-related settings for the robot.

```APIDOC
## GET /api/delivery/v1/settings

### Description
Retrieves the delivery-related settings for the robot.

### Method
GET

### Endpoint
/api/delivery/v1/settings

### Response
#### Success Response (200)
- **delivery_settings** (object) - An object containing various delivery settings.

#### Response Example
```json
{
  "delivery_settings": {
    "max_speed": 0.8,
    "min_speed": 0.1,
    "acceleration": 0.5
  }
}
```
```

--------------------------------

### GET /api/core/system/v1/capabilities

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves the list of capabilities supported by the robot and checks initialization status.

```APIDOC
## GET /api/core/system/v1/capabilities

### Description
This endpoint is used to determine which features the robot supports and whether it has completed initialization. Some interfaces in this documentation depend on specific capabilities to function.

### Method
GET

### Endpoint
/api/core/system/v1/capabilities

### Response
#### Success Response (200)
- **capabilities** (array) - A list of supported robot capabilities.
```

--------------------------------

### GET /api/core/firmware/v1/newversion

Source: https://docs.slamtec.com/

Check for new firmware versions available for the robot.

```APIDOC
## GET /api/core/firmware/v1/newversion

### Description
查询新版本固件

### Method
GET

### Endpoint
/api/core/firmware/v1/newversion
```

--------------------------------

### GET /api/core/firmware/v1/autoupdate/:enable

Source: https://docs.slamtec.com/opt/swagger-conf.json

Checks if automatic firmware updates are supported.

```APIDOC
## GET /api/core/firmware/v1/autoupdate/:enable

### Description
Checks if automatic firmware updates are supported. This endpoint is used to determine the status of the auto-update feature.

### Method
GET

### Endpoint
/api/core/firmware/v1/autoupdate/:enable

### Response
#### Success Response (200)
- **enable** (boolean) - True if auto-update is enabled, false otherwise.
```

--------------------------------

### GET /api/core/system/v1/robot/info

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves general information about the robot device.

```APIDOC
## GET /api/core/system/v1/robot/info

### Description
Retrieves device information.

### Method
GET

### Endpoint
/api/core/system/v1/robot/info
```

--------------------------------

### GET /api/core/firmware/v1/newversion

Source: https://docs.slamtec.com/opt/swagger-conf.json

Queries for new firmware versions from the cloud. Returns empty data if no new version is available.

```APIDOC
## GET /api/core/firmware/v1/newversion

### Description
Queries for new firmware versions from the cloud. Returns empty data if no new version is available.

### Method
GET

### Endpoint
/api/core/firmware/v1/newversion

### Response
#### Success Response (200)
- **FirmwareInfo** (object) or **object** (object) - Firmware information or an empty object if no new version is available.
```

--------------------------------

### POST /api/multi-floor/map/v1/dispatchByPois

Source: https://docs.slamtec.com/opt/swagger-conf.json

Calculates the shortest path to visit a list of POIs and return to the starting position. Note that performance degrades exponentially with the number of POIs.

```APIDOC
## POST /api/multi-floor/map/v1/dispatchByPois

### Description
Given a list of POI names, returns the reordered list that minimizes the total path length for the robot to visit all POIs and return to the current location.

### Method
POST

### Endpoint
/api/multi-floor/map/v1/dispatchByPois

### Request Body
- **body** (array of strings) - Required - List of POI names to visit.

### Request Example
["101", "103", "102"]

### Response
#### Success Response (200)
- **result** (array of strings) - The optimized sequence of POI names.

#### Response Example
["101", "102", "103"]
```

--------------------------------

### GET /api/multi-floor/map/v1/floors

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves a list of all available floor information.

```APIDOC
## GET /api/multi-floor/map/v1/floors

### Description
Retrieves all floor information configured in the system.

### Method
GET

### Endpoint
/api/multi-floor/map/v1/floors

### Response
#### Success Response (200)
- **Array** (FloorInfo) - List of floor information objects.
```

--------------------------------

### GET /api/delivery/v1/stage

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves the current operational status of the robot.

```APIDOC
## GET /api/delivery/v1/stage

### Description
Fetches the current task stage of the robot, such as IDLE, GOING_TO_TASK_POINT, or DEVICE_ERROR.

### Method
GET

### Endpoint
/api/delivery/v1/stage

### Response
#### Success Response (200)
- **TaskStage** (object) - The current status object of the robot.
```

--------------------------------

### GET /api/industry/v1/tasks/templates

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves all task templates for the current device scenario.

```APIDOC
## GET /api/industry/v1/tasks/templates

### Description
Retrieves all task templates associated with the current device's scenario.

### Method
GET

### Endpoint
/api/industry/v1/tasks/templates

### Response
#### Success Response (200)
- **templates** (array) - List of task templates.
```

--------------------------------

### GET /api/core/slam/v1/localization/pose

Source: https://docs.slamtec.com/

Retrieves the current pose of the robot.

```APIDOC
## GET /api/core/slam/v1/localization/pose

### Description
Retrieves the current pose of the robot.

### Method
GET

### Endpoint
/api/core/slam/v1/localization/pose
```

--------------------------------

### GET /api/platform/v1/timestamp

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves the system timestamp in milliseconds since boot. Requires firmware version 4.2.4 or later.

```APIDOC
## GET /api/platform/v1/timestamp

### Description
Retrieves the system timestamp in milliseconds since boot. Requires firmware version 4.2.4 or later.

### Method
GET

### Endpoint
/api/platform/v1/timestamp

### Responses
#### Success Response (200)
- **string** (integer) - OK. The timestamp is returned as a string representation of an integer.

### Required Minimum Firmware Version
4.2.4
```

--------------------------------

### GET /api/core/system/v1/battery/pack

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves the current and temperature data from the battery pack.

```APIDOC
## GET /api/core/system/v1/battery/pack

### Description
获取电池包的电流和温度。

### Method
GET

### Endpoint
/api/core/system/v1/battery/pack

### Response
#### Success Response (200)
- **current** (number) - 电池包电流，单位mA，正值表示充电，负值表示放电
- **temp_count** (integer) - 电池包温度传感器数量
- **temp** (array) - 电池包温度传感器温度值，单位0.1摄氏度

#### Response Example
{
  "current": 1000,
  "temp_count": 2,
  "temp": [233, 234]
}
```

--------------------------------

### GET /api/core/motion/v1/strategies

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves a list of all supported motion strategies. Motion strategies are combinations of internal parameters that affect robot movement and obstacle avoidance, suitable for different scenarios. Requires firmware version 4.2.4 or higher.

```APIDOC
## GET /api/core/motion/v1/strategies

### Description
Retrieves a list of all supported motion strategies. Motion strategies are combinations of internal parameters that affect robot movement and obstacle avoidance, suitable for different scenarios. Requires firmware version 4.2.4 or higher.

### Method
GET

### Endpoint
/api/core/motion/v1/strategies

### Response
#### Success Response (200)
- The response contains a list of available motion strategies.
```

--------------------------------

### GET /api/core/motion/v1/path

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves the remaining waypoints for the current action.

```APIDOC
## GET /api/core/motion/v1/path

### Description
Retrieves the remaining waypoints for the current action.

### Method
GET

### Endpoint
/api/core/motion/v1/path

### Response
#### Success Response (200)
- **PathPointsResponse** - The response containing path points.
```

--------------------------------

### GET /api/core/system/v1/power/status

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves the current power status of the robot.

```APIDOC
## GET /api/core/system/v1/power/status

### Description
Retrieves the current power status of the robot.

### Method
GET

### Endpoint
/api/core/system/v1/power/status

### Response
#### Success Response (200)
- **status** (object) - The current power status information.
```

--------------------------------

### GET /api/multi-floor/map/v1/homedocks

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves information about docking stations, optionally filtered by floor or building.

```APIDOC
## GET /api/multi-floor/map/v1/homedocks

### Description
Retrieves docking station information. If no parameters are provided, it returns all docking stations across all floors.

### Method
GET

### Endpoint
/api/multi-floor/map/v1/homedocks

### Parameters
#### Query Parameters
- **floor** (string) - Optional - The name of the floor.
- **building** (string) - Optional - The name of the building.

### Response
#### Success Response (200)
- **data** (array) - List of docking station information objects.
```

--------------------------------

### GET /api/core/system/v1/jack/status

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves the current status of the jack mechanism.

```APIDOC
## GET /api/core/system/v1/jack/status

### Description
获取千斤顶状态。

### Method
GET

### Endpoint
/api/core/system/v1/jack/status

### Response
#### Success Response (200)
- **response** (object) - Jack status details
```

--------------------------------

### GET /api/core/motion/v1/actions/:current

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves the information of the currently executing motion action.

```APIDOC
## GET /api/core/motion/v1/actions/:current

### Description
获取当前正在执行的运动行为信息。

### Method
GET

### Endpoint
/api/core/motion/v1/actions/:current

### Parameters
#### Path Parameters
- **current** (string) - Required - 标识当前行为的路径参数

### Response
#### Success Response (200)
- **ActionInfoResponse** (object) - 当前行为的详细信息

#### Error Response (404)
- **description** - Action Not Found
```

--------------------------------

### GET /api/multi-floor/map/v1/elevators/{elevator_id}

Source: https://docs.slamtec.com/

Retrieve information about a specific elevator.

```APIDOC
## GET /api/multi-floor/map/v1/elevators/{elevator_id}

### Description
获取某个电梯的信息

### Method
GET

### Endpoint
/api/multi-floor/map/v1/elevators/{elevator_id}

### Parameters
#### Path Parameters
- **elevator_id** (string) - Required - The unique identifier of the elevator
```

--------------------------------

### GET /api/delivery/v1/configurations

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves the robot's configuration information, including device serial number, firmware version, and cargo details.

```APIDOC
## GET /api/delivery/v1/configurations

### Description
Retrieves the robot's configuration information, including device serial number, firmware version, and cargo details.

### Method
GET

### Endpoint
/api/delivery/v1/configurations

### Response
#### Success Response (200)
- **device_sn** (string) - The unique device serial number.
- **firmware_version** (string) - The current firmware version.
- **is_manage_by_cloud** (boolean) - Indicates if the device is managed by the cloud.
- **enable_recovery_on_parking** (boolean) - Indicates if recovery on parking is enabled.
- **cargos** (array) - A list of available cargo types.

#### Response Example
```json
{
  "device_sn": "a1b2c3d4-e5f6-7890-1234-567890abcdef",
  "firmware_version": "4.5.3",
  "is_manage_by_cloud": true,
  "enable_recovery_on_parking": false,
  "cargos": [
    {
      "id": "cargo1",
      "name": "Standard Cargo",
      "description": "A standard cargo container."
    }
  ]
}
```
```

--------------------------------

### GET /api/multi-floor/map/v1/floors/:current

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves the current floor information where the robot is located.

```APIDOC
## GET /api/multi-floor/map/v1/floors/:current

### Description
Retrieves the floor information for the robot's current location.

### Method
GET

### Endpoint
/api/multi-floor/map/v1/floors/:current

### Response
#### Success Response (200)
- **Object** (CurrentFloorInfo) - The current floor details.
```

--------------------------------

### GET /api/delivery/v1/voice_resources

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves voice package information from the cloud. This operation may take longer on poor network connections. Requires firmware version 4.3.2 or later.

```APIDOC
## GET /api/delivery/v1/voice_resources

### Description
Retrieves voice package information from the cloud. This operation may take longer on poor network connections. Requires firmware version 4.3.2 or later.

### Method
GET

### Endpoint
/api/delivery/v1/voice_resources

### Response
#### Success Response (200)
- **result** (boolean) - Indicates if the operation was successful.
- **msg** (string) - A message describing the result.
- **data** (array) - A list of voice package details.
  - **version** (string) - The version of the voice package.
  - **content** (string) - The content of the voice package.
  - **interval_count** (integer) - The interval count for the voice package.
  - **play_type** (integer) - The play type of the voice package.
  - **repeat_count** (integer) - The repeat count for the voice package.

#### Response Example
```json
{
  "result": true,
  "msg": "Voice resources retrieved successfully.",
  "data": [
    {
      "version": "1.0",
      "content": "Welcome.",
      "interval_count": 1,
      "play_type": 0,
      "repeat_count": 1
    }
  ]
}
```
```

--------------------------------

### GET /api/industry/v1/tasks

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves a list of industry tasks. By default, it returns all tasks in 'ready' and 'running' states. If status is 'all', it returns all tasks including succeeded and failed ones.

```APIDOC
## GET /api/industry/v1/tasks

### Description
Queries task information. Defaults to returning all tasks in 'ready' and 'running' states. When status is 'all', it queries all recent tasks, including successfully completed and failed ones.

### Method
GET

### Endpoint
/api/industry/v1/tasks

### Parameters
#### Query Parameters
- **type** (string) - Optional - Specifies the task type. Possible values: 'carry_calling_by_template', 'carry_calling', 'industry'.
- **status** (string) - Optional - Specifies the task status. Possible values: 'ready', 'running', 'succeeded', 'failed', 'all'.

### Response
#### Success Response (200)
- **IndustryTask** (array) - A list of industry tasks.
```

--------------------------------

### PUT /api/core/system/v1/cube/config

Source: https://docs.slamtec.com/opt/swagger-conf.json

Uploads a Cube configuration file as a binary stream. Requires firmware version 4.2.0 or higher.

```APIDOC
## PUT /api/core/system/v1/cube/config

### Description
Uploads the cube_cfg_dat file as a binary stream. Requires firmware version 4.2.0+.

### Method
PUT

### Endpoint
/api/core/system/v1/cube/config

### Request Body
- **body** (binary) - Required - The binary content of the cube configuration file.
```

--------------------------------

### POST /api/core/system/v1/power/:wakeup

Source: https://docs.slamtec.com/opt/swagger-conf.json

Wakes up the robot from hibernation.

```APIDOC
## POST /api/core/system/v1/power/:wakeup

### Description
Wakes up the robot.

### Method
POST

### Endpoint
/api/core/system/v1/power/:wakeup
```

--------------------------------

### GoHomeActionOptions

Source: https://docs.slamtec.com/opt/swagger-conf.json

Options for commanding the robot to return to its home or charging station.

```APIDOC
## GoHomeActionOptions

### Description
Options for commanding the robot to return to its home or charging station.

### Properties
- **gohome_options** (object) - Optional - Configuration for the go-home action.
  - **flags** (string) - Optional - Specifies whether to dock with the charger. Defaults to 'dock'. Can be 'dock' or 'no_dock'.
  - **back_to_landing** (boolean) - Optional - If true, the robot will return to the landing point if docking fails.
  - **charging_retry_count** (integer) - Optional - The number of retries for docking.
  - **move_options** (object) - Optional - Movement options for the path to the charging station. Requires firmware version 4.6.1 or higher.
    - **mode** (integer) - Optional - The movement mode. 0 for free navigation, 2 for track priority.
```

--------------------------------

### GET /api/core/sensors/v1/masks

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves the disabled sensor mask information.

```APIDOC
## GET /api/core/sensors/v1/masks

### Description
Retrieves the disabled sensor mask information.

### Method
GET

### Endpoint
/api/core/sensors/v1/masks

### Responses
#### Success Response (200)
- **array** (DisabledSensorMaskData) - OK
```

--------------------------------

### GET /api/core/motion/v1/speed

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves the current motion speed of the robot.

```APIDOC
## GET /api/core/motion/v1/speed

### Description
Retrieves the current motion speed of the robot.

### Method
GET

### Endpoint
/api/core/motion/v1/speed

### Response
#### Success Response (200)
- **vx** (number) - Forward/backward linear velocity (positive for forward, negative for backward).
- **vy** (number) - Left/right linear velocity (positive for left, negative for right; typically 0 for differential drive robots).
- **omega** (number) - Angular velocity in rad/s.
```

--------------------------------

### GET /api/core/motion/v1/milestones

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves the remaining milestones for the current action.

```APIDOC
## GET /api/core/motion/v1/milestones

### Description
Retrieves the remaining milestones for the current action.

### Method
GET

### Endpoint
/api/core/motion/v1/milestones

### Response
#### Success Response (200)
- **PathPointsResponse** - The response containing milestone points.
```

--------------------------------

### Follow Path Points Action Options

Source: https://docs.slamtec.com/opt/swagger-conf.json

Options for the robot to follow a defined sequence of path points.

```APIDOC
## POST /api/follow_path

### Description
Instructs the robot to follow a series of specified path points.

### Method
POST

### Endpoint
/api/follow_path

### Parameters
#### Request Body
- **path_points** (array of Point) - Required - An array of points defining the path the robot should follow.
- **move_options** (MoveOptions) - Optional - Additional options for the movement along the path.

### Request Example
```json
{
  "path_points": [
    {"x": 1.0, "y": 2.0, "theta": 0.0},
    {"x": 3.0, "y": 4.0, "theta": 1.57}
  ],
  "move_options": {
    "speed": 0.6
  }
}
```

### Response
#### Success Response (200)
- **status** (string) - The status of the follow path action.

#### Response Example
```json
{
  "status": "path_following_completed"
}
```
```

--------------------------------

### Multi-Floor Move Action Options

Source: https://docs.slamtec.com/opt/swagger-conf.json

Options for navigating the robot across multiple floors.

```APIDOC
## POST /api/multi_floor_move

### Description
Executes a move action for multi-floor navigation.

### Method
POST

### Endpoint
/api/multi_floor_move

### Parameters
#### Request Body
- **target** (object) - Required - The target destination for the multi-floor move.
  - Can be either an object with `poi_name` (string) or a `MultiFloorTarget` object.
- **move_options** (MoveOptions) - Optional - Additional options for the move action.

### Request Example
```json
{
  "target": {
    "poi_name": "Floor2_Entrance"
  },
  "move_options": {
    "speed": 0.5,
    "max_rotation_speed": 1.0
  }
}
```

### Response
#### Success Response (200)
- **status** (string) - The status of the multi-floor move action.

#### Response Example
```json
{
  "status": "multi_floor_move_completed"
}
```
```

--------------------------------

### Return to Parking Action Options

Source: https://docs.slamtec.com/opt/swagger-conf.json

Options for the robot to return to its parking or charging station.

```APIDOC
## POST /api/return_to_parking

### Description
Commands the robot to return to its designated parking spot.

### Method
POST

### Endpoint
/api/return_to_parking

### Parameters
#### Request Body
- **target** (object) - Optional - The specific parking target. If null, the robot autonomously selects a parking spot. If occupied, it chooses an alternative. If a target is specified, it must return to that exact spot.
  - **poi_name** (string) - The name of the designated parking point.
- **move_options** (MoveOptions) - Optional - Additional options for the return move.

### Request Example
```json
{
  "target": {
    "poi_name": "ChargingStation_1"
  },
  "move_options": {
    "speed": 0.3
  }
}
```

### Response
#### Success Response (200)
- **status** (string) - The status of the return to parking action.

#### Response Example
```json
{
  "status": "returned_to_parking"
}
```
```

--------------------------------

### POST /api/core/motion/v1/actions

Source: https://docs.slamtec.com/opt/swagger-conf.json

Creates a new motion action for the robot.

```APIDOC
## POST /api/core/motion/v1/actions

### Description
创建新的运动行为。action_name可通过/core/motion/v1/action-factories接口查询，options内容取决于具体的action类型。

### Method
POST

### Endpoint
/api/core/motion/v1/actions

### Parameters
#### Request Body
- **action_name** (string) - Required - 行为名称，例如 slamtec.agent.actions.MoveToAction
- **options** (object) - Required - 行为的具体配置参数，根据action_name类型而定

### Request Example
{
  "action_name": "slamtec.agent.actions.MoveToAction",
  "options": {}
}
```

--------------------------------

### POST /api/core/motion/v1/actions

Source: https://docs.slamtec.com/

Creates a new motion behavior for the robot.

```APIDOC
## POST /api/core/motion/v1/actions

### Description
Creates a new motion behavior for the robot.

### Method
POST

### Endpoint
/api/core/motion/v1/actions
```

--------------------------------

### SeriesMoveToActionOptions

Source: https://docs.slamtec.com/opt/swagger-conf.json

Options for executing a series of movements to multiple target locations.

```APIDOC
## SeriesMoveToActionOptions

### Description
Options for executing a series of movements to multiple target locations.

### Properties
- **targets** (array of Location) - Required - A list of target locations to move to in sequence.
- **move_options** (MoveOptions) - Optional - Additional movement options.
```

--------------------------------

### GET /api/delivery/v1/cargos/assigned

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves a list of currently assigned delivery cargos.

```APIDOC
## GET /api/delivery/v1/cargos/assigned

### Description
Retrieves a list of all currently occupied or assigned delivery cargos.

### Method
GET

### Endpoint
/api/delivery/v1/cargos/assigned

### Response
#### Success Response (200)
- **Array** (AssignedCargoEntry) - List of assigned cargo entries.
```

--------------------------------

### Home Pose API

Source: https://docs.slamtec.com/opt/swagger-conf.json

Endpoints for managing the home pose (charging dock location).

```APIDOC
## GET /api/core/slam/v1/homepose

### Description
Retrieves the current home pose (charging dock location). Returns 404 if no charging dock is found in the current map.

### Method
GET

### Endpoint
/api/core/slam/v1/homepose

### Response
#### Success Response (200)
- **Pose3D** - The 3D pose of the home dock.

#### Response Example
```json
{
  "x": 0.0,
  "y": 0.0,
  "theta": 0.0,
  "covariance": [
    0.0, 0.0, 0.0,
    0.0, 0.0, 0.0,
    0.0, 0.0, 0.0
  ]
}
```

#### Error Response (404)
- **string** - Home dock not found

## PUT /api/core/slam/v1/homepose

### Description
Sets the current home pose (charging dock location). If multiple charging docks exist, one must be designated as the current one.

### Method
PUT

### Endpoint
/api/core/slam/v1/homepose

### Request Body
- **Pose3D** - Required - The 3D pose of the home dock.

### Request Example
```json
{
  "x": 0.0,
  "y": 0.0,
  "theta": 0.0,
  "covariance": [
    0.0, 0.0, 0.0,
    0.0, 0.0, 0.0,
    0.0, 0.0, 0.0
  ]
}
```

### Response
#### Success Response (200)
- **boolean** - true if the operation was successful.
```

--------------------------------

### GET /api/multi-floor/status

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves map status information for multi-floor navigation.

```APIDOC
## GET /api/multi-floor/status

### Description
Retrieves map status information for multi-floor navigation.

### Method
GET

### Endpoint
/api/multi-floor/status

### Responses
#### Success Response (200)
- **object** - OK
```

--------------------------------

### EnterElevatorOptions Schema

Source: https://docs.slamtec.com/opt/swagger-conf.json

Configuration for robot elevator entry behavior.

```APIDOC
## EnterElevatorOptions

### Description
Defines how the robot enters an elevator.

### Parameters
- **elevator_door_flag** (string) - Entry door: front_door, rear_door.
- **elevator_stopping_yaw** (string) - Orientation inside: face_to_front_door, face_to_rear_door.
- **timeout_in_ms** (number) - Total time allowed for entry.
- **use_conservative_mode** (boolean) - If true, moves to center; if false, moves deeper into the elevator.
```

--------------------------------

### GET /api/core/statistics/v1/odometry

Source: https://docs.slamtec.com/

Retrieve the current running mileage statistics of the robot.

```APIDOC
## GET /api/core/statistics/v1/odometry

### Description
获取运行里程

### Method
GET

### Endpoint
/api/core/statistics/v1/odometry
```

--------------------------------

### GET/PUT /api/multi-floor/map/v1/homedocks/:current

Source: https://docs.slamtec.com/opt/swagger-conf.json

Manages the currently bound docking station for the robot.

```APIDOC
## GET /api/multi-floor/map/v1/homedocks/:current

### Description
Retrieves the docking station currently bound to the robot.

### Method
GET

### Endpoint
/api/multi-floor/map/v1/homedocks/:current

### Response
#### Success Response (200)
- **result** (boolean) - Status of the binding.
- **msg** (string) - Status message.
- **data** (object) - Docking station details.

---

## PUT /api/multi-floor/map/v1/homedocks/:current

### Description
Binds a specific docking station to the robot. If the dock is on a different floor, the robot must be manually moved to the dock before calling this.

### Method
PUT

### Endpoint
/api/multi-floor/map/v1/homedocks/:current

### Request Body
- **dock_id** (string) - Required - The UUID of the docking station.

### Request Example
{
  "dock_id": "uuid-string"
}
```

--------------------------------

### GET /api/delivery/v1/tasks

Source: https://docs.slamtec.com/opt/swagger-conf.json

Queries delivery task information based on type and status.

```APIDOC
## GET /api/delivery/v1/tasks

### Description
Queries task information. By default, returns tasks in 'ready' and 'running' states. If status is 'all', it returns all recent tasks including succeeded and failed ones.

### Method
GET

### Endpoint
/api/delivery/v1/tasks

### Parameters
#### Query Parameters
- **type** (string) - Optional - Task type (takeout, retail, collect, refill, food_delivery, recycle, return, call)
- **status** (string) - Optional - Task status (ready, running, succeeded, failed, all)

### Response
#### Success Response (200)
- **Array** (DeliveryTask) - List of delivery tasks.
```

--------------------------------

### POST /api/core/system/v1/power/:restartmodule

Source: https://docs.slamtec.com/opt/swagger-conf.json

Restarts specific modules of the robot.

```APIDOC
## POST /api/core/system/v1/power/:restartmodule

### Description
Executes a restart operation based on the specified mode.

### Method
POST

### Endpoint
/api/core/system/v1/power/:restartmodule

### Request Body
- **mode** (string) - Required - Restart mode: 'RestartModeSoft' (restart slamwared), 'RestartModeHard' (restart system), 'RestartModeBase' (restart chassis).

### Response
#### Success Response (200)
- **result** (boolean) - Indicates if the restart command was accepted.
```

--------------------------------

### Docking Action Options

Source: https://docs.slamtec.com/opt/swagger-conf.json

Options for precise tag docking, allowing the robot to align with a specified target.

```APIDOC
## POST /api/docking

### Description
Initiates a precise docking action to align the robot with a target tag.

### Method
POST

### Endpoint
/api/docking

### Parameters
#### Request Body
- **target** (Pose3D) - Required - The starting position for docking.
- **tag_type** (integer) - Optional - The type of tag to dock with. Defaults to 0 (QR code).
  - 0: QR code visual tag
  - 1: Laser tag
  - 2: Laser reflector
  - 3: Shelf (requires version 6.0+)
- **target_relative_pose** (object) - Optional - The relative pose of the robot when it stops, expressed in the tag's coordinate system. Ignored when tag_type is 3. 
  - **x** (number) - Required - Longitudinal distance from the tag.
  - **y** (number) - Required - Lateral deviation from the tag's center.
- **backward_docking** (boolean) - Optional - Specifies if the docking should be performed in reverse. Defaults to false.
- **turn_radian** (number) - Optional - The turning radian after successful docking. Defaults to the robot facing directly towards or away from the tag.
- **tag_ids** (array of integers) - Optional - Valid when tag_type is 0. Specifies the QR code IDs.
- **reflect_tag_num** (integer) - Optional - Valid when tag_type is 2. The number of reflector tags to dock with. Defaults to 1.
- **dock_retry_count** (integer) - Optional - The number of retries after a failed docking attempt. Defaults to no retries.
- **dock_allowance** (number) - Optional - Valid when tag_type is 3. Represents the length of the robot's body to remain outside the shelf when docking with a shelf. Defaults to aligning the robot's center with the shelf's center.

### Request Example
```json
{
  "target": {
    "x": 0.5,
    "y": 0.0,
    "theta": 0.0
  },
  "tag_type": 0,
  "tag_ids": [123],
  "backward_docking": false,
  "turn_radian": 1.57
}
```

### Response
#### Success Response (200)
- **status** (string) - The status of the docking action.

#### Response Example
```json
{
  "status": "docking_successful"
}
```
```

--------------------------------

### GET /api/multi-floor/map/v1/pois

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves POI information, optionally filtered by floor or building.

```APIDOC
## GET /api/multi-floor/map/v1/pois

### Description
Retrieves POI information. If no parameters are provided, it returns POIs for all floors.

### Method
GET

### Endpoint
/api/multi-floor/map/v1/pois

### Parameters
#### Query Parameters
- **floor** (string) - Optional - Floor name
- **building** (string) - Optional - Building name

### Response
#### Success Response (200)
- **Array** (MultiFloorPoiInfo) - List of POIs.
```

--------------------------------

### Data Models Overview

Source: https://docs.slamtec.com/opt/swagger-conf.json

Definitions for robot state, POI, and cargo management schemas.

```APIDOC
## Data Models

### CurrentFloorInfo
- **building** (string) - Building identifier
- **floor** (string) - Floor identifier (e.g., 1F)
- **elevator** (string) - If non-empty, indicates the robot is inside an elevator
- **map_id** (string) - UUID of the current map

### NearbyPoiInfo
- **id** (string) - UUID of the POI
- **name** (string) - Special values: ON_DOCK, IN_ELEVATOR, UNKNOWN, or custom POI name
- **relative_pose** (Point) - POI position relative to the robot

### Box
- **id** (integer) - Box identifier
- **door_status** (string) - OPEN, OPENING, CLOSING, CLOSED, SEMIOPEN
- **lock_status** (string) - LOCKED, UNLOCKED
- **stock_status** (string) - EMPTY, SEMIFULL, FULL
- **status** (string) - EMPTY, NOT_EMPTY, ERROR
- **errors** (array) - List of error strings
```

--------------------------------

### GET /api/core/motion/v1/time

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves the estimated remaining time for the robot to reach its destination.

```APIDOC
## GET /api/core/motion/v1/time

### Description
Retrieves the estimated remaining time for the robot to reach its destination.

### Method
GET

### Endpoint
/api/core/motion/v1/time

### Response
#### Success Response (200)
- **DoubleResponse** - The response containing the estimated remaining time.
```

--------------------------------

### Sweep Action Options

Source: https://docs.slamtec.com/opt/swagger-conf.json

Options for configuring the robot's sweeping action.

```APIDOC
## POST /api/sweep

### Description
Initiates a sweeping action for the robot.

### Method
POST

### Endpoint
/api/sweep

### Parameters
#### Request Body
- **sweep_options** (object) - Optional - Configuration for the sweeping action.
  - **region_ids** (array of integers) - Optional - A list of region IDs to sweep. If omitted, all regions are swept.
  - **spacing** (number) - Optional - The spacing for the serpentine coverage pattern. Not required for standard cleaning.

### Request Example
```json
{
  "sweep_options": {
    "region_ids": [1, 2, 3],
    "spacing": 0.1
  }
}
```

### Response
#### Success Response (200)
- **status** (string) - The status of the sweep action.

#### Response Example
```json
{
  "status": "sweep_completed"
}
```
```

--------------------------------

### GET /api/multi-floor/map/v1/elevators

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves a list of elevator areas including IDs and waiting points.

```APIDOC
## GET /api/multi-floor/map/v1/elevators

### Description
Retrieves all elevator areas within the map, including elevator IDs and designated waiting points.

### Method
GET

### Endpoint
/api/multi-floor/map/v1/elevators

### Response
#### Success Response (200)
- **elevators** (array) - List of elevator information objects.
```

--------------------------------

### POST /api/core/system/v1/power/:hibernate

Source: https://docs.slamtec.com/opt/swagger-conf.json

Puts the robot into hibernation mode.

```APIDOC
## POST /api/core/system/v1/power/:hibernate

### Description
Hibernates the robot. Note that the LiDAR stops working during hibernation.

### Method
POST

### Endpoint
/api/core/system/v1/power/:hibernate
```

--------------------------------

### Firmware Information

Source: https://docs.slamtec.com/opt/swagger-conf.json

Contains information about the robot's firmware, including manufacturer, model, and version.

```APIDOC
## FirmwareInfo

- **manufacturer** (string) - Optional - Default: "Slamtec"
- **model** (string) - Optional - Default: "Hermes"
- **firmware** (string) - Optional - Default: "4.2.2-rtm+20211011"
- **firmware_id** (string) - Optional - Format: uuid
```

--------------------------------

### POST /api/industry/v1/tasks/templates

Source: https://docs.slamtec.com/opt/swagger-conf.json

Creates a new task template for industrial operations.

```APIDOC
## POST /api/industry/v1/tasks/templates

### Description
Creates a new task template for the robot.

### Method
POST

### Endpoint
/api/industry/v1/tasks/templates

### Response
#### Success Response (200)
- **template** (object) - The created task template object.
```

--------------------------------

### GET /api/delivery/v1/admin/password

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves the operation password settings. Indicates if the password is enabled and its expiration time.

```APIDOC
## GET /api/delivery/v1/admin/password

### Description
Gets the operation password. 'expires' indicates the password expiration time; if this field is not included, the password is permanently valid. 'enable' indicates whether the operation password is enabled.

### Method
GET

### Endpoint
/api/delivery/v1/admin/password

### Response
#### Success Response (200)
- **delivery_admin_password** (object) - Contains password settings.
  - **enable** (boolean) - Required - Indicates if the password feature is enabled.
  - **password** (string) - The password string.
  - **expires** (string) - The expiration date-time of the password.
```

--------------------------------

### MoveOptions Schema

Source: https://docs.slamtec.com/opt/swagger-conf.json

Configuration options for robot movement, including navigation modes, precision settings, and speed control.

```APIDOC
## MoveOptions

### Description
Defines parameters for robot navigation and movement behavior.

### Parameters
- **mode** (integer) - 0: Free navigation, 1: Strict track mode, 2: Track priority mode.
- **flags** (array) - List of movement flags: precise, with_yaw, fail_retry_count, find_path_ignoring_dynamic_obstacles, with_directed_virtual_track.
- **yaw** (number) - Target orientation after reaching the destination.
- **acceptable_precision** (number) - Distance threshold for considering a destination reached.
- **fail_retry_count** (integer) - Number of retries upon pathfinding failure.
- **speed_ratio** (number) - Speed multiplier (requires firmware 4.5.4).
```

--------------------------------

### GET /api/multi-floor/map/v1/elevators/{elevator_id}/pose_relation

Source: https://docs.slamtec.com/opt/swagger-conf.json

Checks the robot's spatial relationship with a specific elevator.

```APIDOC
## GET /api/multi-floor/map/v1/elevators/{elevator_id}/pose_relation

### Description
Determines the robot's current position relative to the elevator.

### Method
GET

### Endpoint
/api/multi-floor/map/v1/elevators/{elevator_id}/pose_relation

### Parameters
#### Path Parameters
- **elevator_id** (string) - Required - The unique identifier of the elevator.

### Response
#### Success Response (200)
- **relation** (string) - Enum: [in_elevator, close_to_elevator_sill, out_of_elevator]
```

--------------------------------

### Floor Information

Source: https://docs.slamtec.com/opt/swagger-conf.json

Provides details about the current floor the robot is on, including building, floor name, and order for UI display.

```APIDOC
## FloorInfo

- **building** (string) - Optional - Default: ""
- **floor** (string) - Optional - Example: "1F"
- **order** (integer) - Optional - Used for sorting floors in the UI.
- **is_default_floor** (boolean) - Optional
```

--------------------------------

### GET /api/platform/v1/events

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves robot event information. Different plugins can extend event types.

```APIDOC
## GET /api/platform/v1/events

### Description
Retrieves robot event information. Different plugins can extend event types.

### Method
GET

### Endpoint
/api/platform/v1/events

### Responses
#### Success Response (200)
- **array** (RobotEvent) - OK
```

--------------------------------

### GET /api/delivery/v1/cargos

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves a list of all cargo information. This endpoint is only supported by models with cargo bay capabilities.

```APIDOC
## GET /api/delivery/v1/cargos

### Description
Retrieves a list of all cargo information. This endpoint is only supported by models with cargo bay capabilities.

### Method
GET

### Endpoint
/api/delivery/v1/cargos

### Responses
#### Success Response (200)
- **array** (items: Cargo) - A list of Cargo objects.

#### Response Example
```json
[
  {
    "cargo_id": "3fa85f64-5717-4562-b3fc-2c963f66afa6",
    "name": "Example Cargo"
  }
]
```
```

--------------------------------

### GET /api/core/slam/v1/maps/stcm

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves the composite map. The response is a binary stream that can be directly saved as an .stcm file.

```APIDOC
## GET /api/core/slam/v1/maps/stcm

### Description
Retrieves the composite map. The response is a binary stream that can be directly saved as an .stcm file.

### Method
GET

### Endpoint
/api/core/slam/v1/maps/stcm

### Response
#### Success Response (200)
- **binary** (binary) - The composite map data as a binary stream.
```

--------------------------------

### POST /api/delivery/v1/tasks

Source: https://docs.slamtec.com/

Create a new delivery task.

```APIDOC
## POST /api/delivery/v1/tasks

### Description
创建任务

### Method
POST

### Endpoint
/api/delivery/v1/tasks
```

--------------------------------

### MoveToTagActionOptions

Source: https://docs.slamtec.com/opt/swagger-conf.json

Options for moving the robot to a specific tag.

```APIDOC
## MoveToTagActionOptions

### Description
Options for moving the robot to a specific tag. This schema is incomplete as the properties are not fully defined in the provided text.
```

--------------------------------

### GET /api/delivery/v1/cargos/{cargo_id}/boxes

Source: https://docs.slamtec.com/opt/swagger-conf.json

Retrieves all box information for a specific cargo. Requires the cargo ID as a path parameter.

```APIDOC
## GET /api/delivery/v1/cargos/{cargo_id}/boxes

### Description
Retrieves all box information for a specific cargo. Requires the cargo ID as a path parameter.

### Method
GET

### Endpoint
/api/delivery/v1/cargos/{cargo_id}/boxes

### Parameters
#### Path Parameters
- **cargo_id** (string) - Required - The unique identifier of the cargo (UUID format).

### Responses
#### Success Response (200)
- **array** (items: Box) - A list of Box objects associated with the cargo.

#### Error Response (404)
- **description**: Cargo not found

#### Response Example
```json
[
  {
    "box_id": 0,
    "name": "Example Box"
  }
]
```
```
Tokens:
Raw