API.md

API Reference

🐍 Python SDK

pip install tars-robot

TarsClient (sync)

from tars_sdk import TarsClient

client = TarsClient("tars.local:50051")

# Movement
client.move("wave_right")
client.move("step_forward", speed=0.5)
client.reset()

# Emotions & eyes
client.set_emotion("happy")
client.set_eye_state("listening")

# Camera
frame = client.capture_camera(width=640, height=480, quality=85)

# Status
status = client.get_status()
# {connected, battery: {level, charging, voltage}, emotion, eye_state, is_moving}

# Microphone
client.set_mic_mute(True)
muted = client.is_mic_muted

client.close()

AsyncTarsClient

from tars_sdk import AsyncTarsClient
import asyncio

async def main():
    async with AsyncTarsClient("tars.local:50051") as client:
        await client.move("nod")
        status = await client.get_status()

asyncio.run(main())

Available Movements

Category	Movements
Locomotion	step_forward, walk_forward, step_backward, walk_backward
Turning	turn_left, turn_right, turn_left_slow, turn_right_slow
Tilting	tilt_left, tilt_right, side_side
Expressions	bow, pose, laugh, excited, swing_legs
Waves	wave_left, wave_right
Utility	neutral_legs

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🌐 REST API

Base URL: (or via Tailscale)http://tars.local:8000

Status

Method	Endpoint	Description
GET	/api/status	System status (battery, CPU, memory)
GET	/api/status/battery	Battery info
GET	/api/camera	JPEG snapshot

Control

Method	Endpoint	Description
GET	/api/control/movements	List available movements
POST	/api/control/move	Execute movement
POST	/api/control/emotion	Set emotion
POST	/api/control/eye-state	Set eye state
POST	/api/control/reset	Reset to neutral

WebRTC

Method	Endpoint	Description
POST	/api/webrtc/offer	WebRTC signaling (SDP offer/answer)

WiFi

Method	Endpoint	Description
GET	/api/wifi/status	Current connection status
GET	/api/wifi/networks	Scan available networks
POST	/api/wifi/connect	Connect to network
PUT	/api/wifi/hotspot	Enable/disable hotspot

Apps

Method	Endpoint	Description
GET	/api/apps	List all apps
GET	/api/apps/installed	List installed apps
POST	/api/apps/{app_id}/install	Install app
POST	/api/apps/{app_id}/start	Start app
POST	/api/apps/{app_id}/stop	Stop app
DELETE	/api/apps/{app_id}	Uninstall app

System

Method	Endpoint	Description
GET	/api/system/settings	Get settings
PUT	/api/system/settings	Update settings
GET	/api/updates/check	Check for updates
POST	/api/updates/install	Install updates
POST	/api/updates/restart	Restart service

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⚡ gRPC

Port: 50051. The SDK wraps gRPC internally. For direct access, see proto in tars_sdk/proto/.

RPCs

RPC	Description
Health()	Health check
GetStatus()	Robot status
ExecuteMovement(movement, speed)	Run movement
ResetPosition()	Return to neutral
SetEmotion(emotion)	Set display emotion
SetEyeState(state)	Set eye state
CaptureCamera(width, height, quality)	Get JPEG frame
SetMicMute(muted)	Mute/unmute microphone
GetMicMute()	Get mute state
StreamBattery()	Battery updates stream
StreamMovementStatus()	Movement status stream