Bear Robotics Localization & Navigation API

openapi: 3.2.0
info:
  title: Bear Cloud Localization & Navigation API
  description: "Bear Cloud APIs define the control, navigation, monitoring, and fleet management\n interface for robots."
  version: 1.3.0
servers:
- url: https://api.bearrobotics.ai
security:
- BearerAuth: []
tags:
- name: Localization & Navigation
  description: Low-level endpoints for robot pose and localization
paths:
  /v1/pose/set:
    post:
      tags:
      - Localization & Navigation
      description: "Update the robot's expected pose on the map.\n\n Unlike LocalizeRobot, the robot will not attempt to verify whether the pose\n that is set align's with its camera view."
      operationId: APIService_SetPose
      requestBody:
        description: Robot identifier and pose to set
        required: true
        content:
          application/json:
            schema:
              $ref: '#/components/schemas/SetPoseRequest'
      responses:
        '200':
          description: OK
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/SetPoseResponse'
        '400':
          $ref: '#/components/responses/BadRequest'
        '401':
          $ref: '#/components/responses/Unauthorized'
        '500':
          $ref: '#/components/responses/InternalServerError'
        '503':
          $ref: '#/components/responses/ServiceUnavailable'
        '504':
          $ref: '#/components/responses/GatewayTimeout'
  /v1/robot/localize:
    post:
      tags:
      - Localization & Navigation
      description: "Localizes the robot to a known pose or destination.\n\n While the robot is localizing,\n any subsequent requests to localize the robot will return a\n FAILED_PRECONDITION error until the process is completed."
      operationId: APIService_LocalizeRobot
      requestBody:
        description: Localization goal and robot identifier
        required: true
        content:
          application/json:
            schema:
              $ref: '#/components/schemas/LocalizeRobotRequest'
      responses:
        '200':
          description: OK
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/LocalizeRobotResponse'
        '400':
          $ref: '#/components/responses/BadRequest'
        '401':
          $ref: '#/components/responses/Unauthorized'
        '500':
          $ref: '#/components/responses/InternalServerError'
        '503':
          $ref: '#/components/responses/ServiceUnavailable'
        '504':
          $ref: '#/components/responses/GatewayTimeout'
components:
  schemas:
    Goal:
      type: object
      oneOf:
      - required:
        - destinationId
        properties:
          destinationId:
            type: string
      - required:
        - pose
        properties:
          pose:
            $ref: '#/components/schemas/Pose'
      description: Goal represents a target destination or pose for the robot to navigate to.
    LocalizeRobotRequest:
      type: object
      required:
      - robotId
      - goal
      properties:
        robotId:
          type: string
          description: Unique identifier of the robot
        goal:
          $ref: '#/components/schemas/Goal'
      description: Request object for localizing a robot
    Pose:
      type: object
      properties:
        xMeters:
          type: number
          description: X-coordinate in meters within the map.
          format: float
        yMeters:
          type: number
          description: Y-coordinate in meters within the map.
          format: float
        headingRadians:
          type: number
          description: "The heading of the robot in radians.\n Ranges from -π to π, where 0.0 points along the positive x-axis."
          format: float
      description: Represents the robot's pose on the map.
    LocalizeRobotResponse:
      type: object
      properties: {}
    SetPoseRequest:
      type: object
      required:
      - robotId
      - pose
      properties:
        robotId:
          type: string
          description: Unique identifier of the robot
        pose:
          $ref: '#/components/schemas/Pose'
      description: Request object for setting robot pose
    SetPoseResponse:
      type: object
      properties: {}
  responses:
    GatewayTimeout:
      description: Server-side timeout, usually caused by the failure to send/receive commands/responses to the designated robot.
    ServiceUnavailable:
      description: Service is temporarily unavailable, which can usually be resolved by backoff retries.
    Unauthorized:
      description: Unauthorized credentials, ensure the JWT is correct and up to date.
    BadRequest:
      description: Bad Request, usually caused by malfored request body.
      headers:
        grpc-status:
          schema:
            type: integer
          description: gRPC status code
        grpc-message:
          schema:
            type: string
          description: detailed error message
    InternalServerError:
      description: Internal Server Error
  securitySchemes:
    BearerAuth:
      type: http
      scheme: bearer
      bearerFormat: JWT
      description: JWT token obtained from the /authorizeApiAccess endpoint