Class Client

A gRPC-web client for a Robot.

Hierarchy

EventDispatcher
- Client

Implements

Robot

Index

Modules

restartModule

restartModule(moduleId?: string, moduleName?: string): Promise<void>
Alpha
Restarts a module running on the machine with the given id or name.
Parameters
- OptionalmoduleId: string
  The id matching the module_id field of the registry module in your part configuration
- OptionalmoduleName: string
  The name matching the name field of the local/registry module in your part configuration
Returns Promise<void>
Example
```
await machine.restartModule('namespace:module:model', 'my_model_name');
```
Implementation of Robot.restartModule

Constructors

constructor

new Client(
    serviceHost?: string,
    webrtcOptions?: WebRTCOptions,
    sessionOptions?: SessionOptions,
    directOptions?: DirectOptions,
): Client
Parameters
- OptionalserviceHost: string
- OptionalwebrtcOptions: WebRTCOptions
- OptionalsessionOptions: SessionOptions
- OptionaldirectOptions: DirectOptions
Returns Client
Overrides EventDispatcher.constructor

Properties

listeners

listeners: Partial<Record<string, Set<Callback>>> = {}

Accessors

armService

get armService(): Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            get3DModels: {
                I: typeof Get3DModelsRequest;
                kind: Unary;
                name: "Get3DModels";
                O: typeof Get3DModelsResponse;
            };
            getEndPosition: {
                I: typeof GetEndPositionRequest;
                kind: Unary;
                name: "GetEndPosition";
                O: typeof GetEndPositionResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
            getJointPositions: {
                I: typeof GetJointPositionsRequest;
                kind: Unary;
                name: "GetJointPositions";
                O: typeof GetJointPositionsResponse;
            };
            getKinematics: {
                I: typeof GetKinematicsRequest;
                kind: Unary;
                name: "GetKinematics";
                O: typeof GetKinematicsResponse;
            };
            isMoving: {
                I: typeof armApi.IsMovingRequest;
                kind: Unary;
                name: "IsMoving";
                O: typeof armApi.IsMovingResponse;
            };
            moveThroughJointPositions: {
                I: typeof MoveThroughJointPositionsRequest;
                kind: Unary;
                name: "MoveThroughJointPositions";
                O: typeof MoveThroughJointPositionsResponse;
            };
            moveToJointPositions: {
                I: typeof MoveToJointPositionsRequest;
                kind: Unary;
                name: "MoveToJointPositions";
                O: typeof MoveToJointPositionsResponse;
            };
            moveToPosition: {
                I: typeof armApi.MoveToPositionRequest;
                kind: Unary;
                name: "MoveToPosition";
                O: typeof armApi.MoveToPositionResponse;
            };
            stop: {
                I: typeof armApi.StopRequest;
                kind: Unary;
                name: "Stop";
                O: typeof armApi.StopResponse;
            };
        };
        typeName: "viam.component.arm.v1.ArmService";
    },
>
Returns Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            get3DModels: {
                I: typeof Get3DModelsRequest;
                kind: Unary;
                name: "Get3DModels";
                O: typeof Get3DModelsResponse;
            };
            getEndPosition: {
                I: typeof GetEndPositionRequest;
                kind: Unary;
                name: "GetEndPosition";
                O: typeof GetEndPositionResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
            getJointPositions: {
                I: typeof GetJointPositionsRequest;
                kind: Unary;
                name: "GetJointPositions";
                O: typeof GetJointPositionsResponse;
            };
            getKinematics: {
                I: typeof GetKinematicsRequest;
                kind: Unary;
                name: "GetKinematics";
                O: typeof GetKinematicsResponse;
            };
            isMoving: {
                I: typeof armApi.IsMovingRequest;
                kind: Unary;
                name: "IsMoving";
                O: typeof armApi.IsMovingResponse;
            };
            moveThroughJointPositions: {
                I: typeof MoveThroughJointPositionsRequest;
                kind: Unary;
                name: "MoveThroughJointPositions";
                O: typeof MoveThroughJointPositionsResponse;
            };
            moveToJointPositions: {
                I: typeof MoveToJointPositionsRequest;
                kind: Unary;
                name: "MoveToJointPositions";
                O: typeof MoveToJointPositionsResponse;
            };
            moveToPosition: {
                I: typeof armApi.MoveToPositionRequest;
                kind: Unary;
                name: "MoveToPosition";
                O: typeof armApi.MoveToPositionResponse;
            };
            stop: {
                I: typeof armApi.StopRequest;
                kind: Unary;
                name: "Stop";
                O: typeof armApi.StopResponse;
            };
        };
        typeName: "viam.component.arm.v1.ArmService";
    },
>

baseService

get baseService(): Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
            getProperties: {
                I: typeof baseApi.GetPropertiesRequest;
                kind: Unary;
                name: "GetProperties";
                O: typeof baseApi.GetPropertiesResponse;
            };
            isMoving: {
                I: typeof baseApi.IsMovingRequest;
                kind: Unary;
                name: "IsMoving";
                O: typeof baseApi.IsMovingResponse;
            };
            moveStraight: {
                I: typeof MoveStraightRequest;
                kind: Unary;
                name: "MoveStraight";
                O: typeof MoveStraightResponse;
            };
            setPower: {
                I: typeof baseApi.SetPowerRequest;
                kind: Unary;
                name: "SetPower";
                O: typeof baseApi.SetPowerResponse;
            };
            setVelocity: {
                I: typeof SetVelocityRequest;
                kind: Unary;
                name: "SetVelocity";
                O: typeof SetVelocityResponse;
            };
            spin: {
                I: typeof SpinRequest;
                kind: Unary;
                name: "Spin";
                O: typeof SpinResponse;
            };
            stop: {
                I: typeof baseApi.StopRequest;
                kind: Unary;
                name: "Stop";
                O: typeof baseApi.StopResponse;
            };
        };
        typeName: "viam.component.base.v1.BaseService";
    },
>
Returns Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
            getProperties: {
                I: typeof baseApi.GetPropertiesRequest;
                kind: Unary;
                name: "GetProperties";
                O: typeof baseApi.GetPropertiesResponse;
            };
            isMoving: {
                I: typeof baseApi.IsMovingRequest;
                kind: Unary;
                name: "IsMoving";
                O: typeof baseApi.IsMovingResponse;
            };
            moveStraight: {
                I: typeof MoveStraightRequest;
                kind: Unary;
                name: "MoveStraight";
                O: typeof MoveStraightResponse;
            };
            setPower: {
                I: typeof baseApi.SetPowerRequest;
                kind: Unary;
                name: "SetPower";
                O: typeof baseApi.SetPowerResponse;
            };
            setVelocity: {
                I: typeof SetVelocityRequest;
                kind: Unary;
                name: "SetVelocity";
                O: typeof SetVelocityResponse;
            };
            spin: {
                I: typeof SpinRequest;
                kind: Unary;
                name: "Spin";
                O: typeof SpinResponse;
            };
            stop: {
                I: typeof baseApi.StopRequest;
                kind: Unary;
                name: "Stop";
                O: typeof baseApi.StopResponse;
            };
        };
        typeName: "viam.component.base.v1.BaseService";
    },
>

boardService

get boardService(): Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getDigitalInterruptValue: {
                I: typeof GetDigitalInterruptValueRequest;
                kind: Unary;
                name: "GetDigitalInterruptValue";
                O: typeof GetDigitalInterruptValueResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
            getGPIO: {
                I: typeof GetGPIORequest;
                kind: Unary;
                name: "GetGPIO";
                O: typeof GetGPIOResponse;
            };
            pWM: {
                I: typeof PWMRequest;
                kind: Unary;
                name: "PWM";
                O: typeof PWMResponse;
            };
            pWMFrequency: {
                I: typeof PWMFrequencyRequest;
                kind: Unary;
                name: "PWMFrequency";
                O: typeof PWMFrequencyResponse;
            };
            readAnalogReader: {
                I: typeof ReadAnalogReaderRequest;
                kind: Unary;
                name: "ReadAnalogReader";
                O: typeof ReadAnalogReaderResponse;
            };
            setGPIO: {
                I: typeof SetGPIORequest;
                kind: Unary;
                name: "SetGPIO";
                O: typeof SetGPIOResponse;
            };
            setPowerMode: {
                I: typeof SetPowerModeRequest;
                kind: Unary;
                name: "SetPowerMode";
                O: typeof SetPowerModeResponse;
            };
            setPWM: {
                I: typeof SetPWMRequest;
                kind: Unary;
                name: "SetPWM";
                O: typeof SetPWMResponse;
            };
            setPWMFrequency: {
                I: typeof SetPWMFrequencyRequest;
                kind: Unary;
                name: "SetPWMFrequency";
                O: typeof SetPWMFrequencyResponse;
            };
            streamTicks: {
                I: typeof StreamTicksRequest;
                kind: ServerStreaming;
                name: "StreamTicks";
                O: typeof StreamTicksResponse;
            };
            writeAnalog: {
                I: typeof WriteAnalogRequest;
                kind: Unary;
                name: "WriteAnalog";
                O: typeof WriteAnalogResponse;
            };
        };
        typeName: "viam.component.board.v1.BoardService";
    },
>
Returns Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getDigitalInterruptValue: {
                I: typeof GetDigitalInterruptValueRequest;
                kind: Unary;
                name: "GetDigitalInterruptValue";
                O: typeof GetDigitalInterruptValueResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
            getGPIO: {
                I: typeof GetGPIORequest;
                kind: Unary;
                name: "GetGPIO";
                O: typeof GetGPIOResponse;
            };
            pWM: {
                I: typeof PWMRequest;
                kind: Unary;
                name: "PWM";
                O: typeof PWMResponse;
            };
            pWMFrequency: {
                I: typeof PWMFrequencyRequest;
                kind: Unary;
                name: "PWMFrequency";
                O: typeof PWMFrequencyResponse;
            };
            readAnalogReader: {
                I: typeof ReadAnalogReaderRequest;
                kind: Unary;
                name: "ReadAnalogReader";
                O: typeof ReadAnalogReaderResponse;
            };
            setGPIO: {
                I: typeof SetGPIORequest;
                kind: Unary;
                name: "SetGPIO";
                O: typeof SetGPIOResponse;
            };
            setPowerMode: {
                I: typeof SetPowerModeRequest;
                kind: Unary;
                name: "SetPowerMode";
                O: typeof SetPowerModeResponse;
            };
            setPWM: {
                I: typeof SetPWMRequest;
                kind: Unary;
                name: "SetPWM";
                O: typeof SetPWMResponse;
            };
            setPWMFrequency: {
                I: typeof SetPWMFrequencyRequest;
                kind: Unary;
                name: "SetPWMFrequency";
                O: typeof SetPWMFrequencyResponse;
            };
            streamTicks: {
                I: typeof StreamTicksRequest;
                kind: ServerStreaming;
                name: "StreamTicks";
                O: typeof StreamTicksResponse;
            };
            writeAnalog: {
                I: typeof WriteAnalogRequest;
                kind: Unary;
                name: "WriteAnalog";
                O: typeof WriteAnalogResponse;
            };
        };
        typeName: "viam.component.board.v1.BoardService";
    },
>

discoveryService

get discoveryService(): Client<
    {
        methods: {
            discoverResources: {
                I: typeof DiscoverResourcesRequest;
                kind: Unary;
                name: "DiscoverResources";
                O: typeof DiscoverResourcesResponse;
            };
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
        };
        typeName: "viam.service.discovery.v1.DiscoveryService";
    },
>
Returns Client<
    {
        methods: {
            discoverResources: {
                I: typeof DiscoverResourcesRequest;
                kind: Unary;
                name: "DiscoverResources";
                O: typeof DiscoverResourcesResponse;
            };
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
        };
        typeName: "viam.service.discovery.v1.DiscoveryService";
    },
>

encoderService

get encoderService(): Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
            getPosition: {
                I: typeof encoderApi.GetPositionRequest;
                kind: Unary;
                name: "GetPosition";
                O: typeof encoderApi.GetPositionResponse;
            };
            getProperties: {
                I: typeof encoderApi.GetPropertiesRequest;
                kind: Unary;
                name: "GetProperties";
                O: typeof encoderApi.GetPropertiesResponse;
            };
            resetPosition: {
                I: typeof ResetPositionRequest;
                kind: Unary;
                name: "ResetPosition";
                O: typeof ResetPositionResponse;
            };
        };
        typeName: "viam.component.encoder.v1.EncoderService";
    },
>
Returns Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
            getPosition: {
                I: typeof encoderApi.GetPositionRequest;
                kind: Unary;
                name: "GetPosition";
                O: typeof encoderApi.GetPositionResponse;
            };
            getProperties: {
                I: typeof encoderApi.GetPropertiesRequest;
                kind: Unary;
                name: "GetProperties";
                O: typeof encoderApi.GetPropertiesResponse;
            };
            resetPosition: {
                I: typeof ResetPositionRequest;
                kind: Unary;
                name: "ResetPosition";
                O: typeof ResetPositionResponse;
            };
        };
        typeName: "viam.component.encoder.v1.EncoderService";
    },
>

gantryService

get gantryService(): Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
            getKinematics: {
                I: typeof GetKinematicsRequest;
                kind: Unary;
                name: "GetKinematics";
                O: typeof GetKinematicsResponse;
            };
            getLengths: {
                I: typeof GetLengthsRequest;
                kind: Unary;
                name: "GetLengths";
                O: typeof GetLengthsResponse;
            };
            getPosition: {
                I: typeof gantryApi.GetPositionRequest;
                kind: Unary;
                name: "GetPosition";
                O: typeof gantryApi.GetPositionResponse;
            };
            home: {
                I: typeof HomeRequest;
                kind: Unary;
                name: "Home";
                O: typeof HomeResponse;
            };
            isMoving: {
                I: typeof gantryApi.IsMovingRequest;
                kind: Unary;
                name: "IsMoving";
                O: typeof gantryApi.IsMovingResponse;
            };
            moveToPosition: {
                I: typeof gantryApi.MoveToPositionRequest;
                kind: Unary;
                name: "MoveToPosition";
                O: typeof gantryApi.MoveToPositionResponse;
            };
            stop: {
                I: typeof gantryApi.StopRequest;
                kind: Unary;
                name: "Stop";
                O: typeof gantryApi.StopResponse;
            };
        };
        typeName: "viam.component.gantry.v1.GantryService";
    },
>
Returns Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
            getKinematics: {
                I: typeof GetKinematicsRequest;
                kind: Unary;
                name: "GetKinematics";
                O: typeof GetKinematicsResponse;
            };
            getLengths: {
                I: typeof GetLengthsRequest;
                kind: Unary;
                name: "GetLengths";
                O: typeof GetLengthsResponse;
            };
            getPosition: {
                I: typeof gantryApi.GetPositionRequest;
                kind: Unary;
                name: "GetPosition";
                O: typeof gantryApi.GetPositionResponse;
            };
            home: {
                I: typeof HomeRequest;
                kind: Unary;
                name: "Home";
                O: typeof HomeResponse;
            };
            isMoving: {
                I: typeof gantryApi.IsMovingRequest;
                kind: Unary;
                name: "IsMoving";
                O: typeof gantryApi.IsMovingResponse;
            };
            moveToPosition: {
                I: typeof gantryApi.MoveToPositionRequest;
                kind: Unary;
                name: "MoveToPosition";
                O: typeof gantryApi.MoveToPositionResponse;
            };
            stop: {
                I: typeof gantryApi.StopRequest;
                kind: Unary;
                name: "Stop";
                O: typeof gantryApi.StopResponse;
            };
        };
        typeName: "viam.component.gantry.v1.GantryService";
    },
>

genericService

get genericService(): Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
        };
        typeName: "viam.component.generic.v1.GenericService";
    },
>
Returns Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
        };
        typeName: "viam.component.generic.v1.GenericService";
    },
>

gripperService

get gripperService(): Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
            getKinematics: {
                I: typeof GetKinematicsRequest;
                kind: Unary;
                name: "GetKinematics";
                O: typeof GetKinematicsResponse;
            };
            grab: {
                I: typeof GrabRequest;
                kind: Unary;
                name: "Grab";
                O: typeof GrabResponse;
            };
            isHoldingSomething: {
                I: typeof IsHoldingSomethingRequest;
                kind: Unary;
                name: "IsHoldingSomething";
                O: typeof IsHoldingSomethingResponse;
            };
            isMoving: {
                I: typeof gripperApi.IsMovingRequest;
                kind: Unary;
                name: "IsMoving";
                O: typeof gripperApi.IsMovingResponse;
            };
            open: {
                I: typeof OpenRequest;
                kind: Unary;
                name: "Open";
                O: typeof OpenResponse;
            };
            stop: {
                I: typeof gripperApi.StopRequest;
                kind: Unary;
                name: "Stop";
                O: typeof gripperApi.StopResponse;
            };
        };
        typeName: "viam.component.gripper.v1.GripperService";
    },
>
Returns Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
            getKinematics: {
                I: typeof GetKinematicsRequest;
                kind: Unary;
                name: "GetKinematics";
                O: typeof GetKinematicsResponse;
            };
            grab: {
                I: typeof GrabRequest;
                kind: Unary;
                name: "Grab";
                O: typeof GrabResponse;
            };
            isHoldingSomething: {
                I: typeof IsHoldingSomethingRequest;
                kind: Unary;
                name: "IsHoldingSomething";
                O: typeof IsHoldingSomethingResponse;
            };
            isMoving: {
                I: typeof gripperApi.IsMovingRequest;
                kind: Unary;
                name: "IsMoving";
                O: typeof gripperApi.IsMovingResponse;
            };
            open: {
                I: typeof OpenRequest;
                kind: Unary;
                name: "Open";
                O: typeof OpenResponse;
            };
            stop: {
                I: typeof gripperApi.StopRequest;
                kind: Unary;
                name: "Stop";
                O: typeof gripperApi.StopResponse;
            };
        };
        typeName: "viam.component.gripper.v1.GripperService";
    },
>

inputControllerService

get inputControllerService(): Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getControls: {
                I: typeof GetControlsRequest;
                kind: Unary;
                name: "GetControls";
                O: typeof GetControlsResponse;
            };
            getEvents: {
                I: typeof GetEventsRequest;
                kind: Unary;
                name: "GetEvents";
                O: typeof GetEventsResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
            streamEvents: {
                I: typeof StreamEventsRequest;
                kind: ServerStreaming;
                name: "StreamEvents";
                O: typeof StreamEventsResponse;
            };
            triggerEvent: {
                I: typeof TriggerEventRequest;
                kind: Unary;
                name: "TriggerEvent";
                O: typeof TriggerEventResponse;
            };
        };
        typeName: "viam.component.inputcontroller.v1.InputControllerService";
    },
>
Returns Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getControls: {
                I: typeof GetControlsRequest;
                kind: Unary;
                name: "GetControls";
                O: typeof GetControlsResponse;
            };
            getEvents: {
                I: typeof GetEventsRequest;
                kind: Unary;
                name: "GetEvents";
                O: typeof GetEventsResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
            streamEvents: {
                I: typeof StreamEventsRequest;
                kind: ServerStreaming;
                name: "StreamEvents";
                O: typeof StreamEventsResponse;
            };
            triggerEvent: {
                I: typeof TriggerEventRequest;
                kind: Unary;
                name: "TriggerEvent";
                O: typeof TriggerEventResponse;
            };
        };
        typeName: "viam.component.inputcontroller.v1.InputControllerService";
    },
>

mlModelService

get mlModelService(): Client<
    {
        methods: {
            infer: {
                I: typeof InferRequest;
                kind: Unary;
                name: "Infer";
                O: typeof InferResponse;
            };
            metadata: {
                I: typeof MetadataRequest;
                kind: Unary;
                name: "Metadata";
                O: typeof MetadataResponse;
            };
        };
        typeName: "viam.service.mlmodel.v1.MLModelService";
    },
>
Returns Client<
    {
        methods: {
            infer: {
                I: typeof InferRequest;
                kind: Unary;
                name: "Infer";
                O: typeof InferResponse;
            };
            metadata: {
                I: typeof MetadataRequest;
                kind: Unary;
                name: "Metadata";
                O: typeof MetadataResponse;
            };
        };
        typeName: "viam.service.mlmodel.v1.MLModelService";
    },
>

motionService

get motionService(): Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getPlan: {
                I: typeof GetPlanRequest;
                kind: Unary;
                name: "GetPlan";
                O: typeof motionApi.GetPlanResponse;
            };
            getPose: {
                I: typeof motionApi.GetPoseRequest;
                kind: Unary;
                name: "GetPose";
                O: typeof motionApi.GetPoseResponse;
            };
            listPlanStatuses: {
                I: typeof ListPlanStatusesRequest;
                kind: Unary;
                name: "ListPlanStatuses";
                O: typeof motionApi.ListPlanStatusesResponse;
            };
            move: {
                I: typeof motionApi.MoveRequest;
                kind: Unary;
                name: "Move";
                O: typeof motionApi.MoveResponse;
            };
            moveOnGlobe: {
                I: typeof MoveOnGlobeRequest;
                kind: Unary;
                name: "MoveOnGlobe";
                O: typeof MoveOnGlobeResponse;
            };
            moveOnMap: {
                I: typeof MoveOnMapRequest;
                kind: Unary;
                name: "MoveOnMap";
                O: typeof MoveOnMapResponse;
            };
            stopPlan: {
                I: typeof StopPlanRequest;
                kind: Unary;
                name: "StopPlan";
                O: typeof StopPlanResponse;
            };
        };
        typeName: "viam.service.motion.v1.MotionService";
    },
>
Returns Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getPlan: {
                I: typeof GetPlanRequest;
                kind: Unary;
                name: "GetPlan";
                O: typeof motionApi.GetPlanResponse;
            };
            getPose: {
                I: typeof motionApi.GetPoseRequest;
                kind: Unary;
                name: "GetPose";
                O: typeof motionApi.GetPoseResponse;
            };
            listPlanStatuses: {
                I: typeof ListPlanStatusesRequest;
                kind: Unary;
                name: "ListPlanStatuses";
                O: typeof motionApi.ListPlanStatusesResponse;
            };
            move: {
                I: typeof motionApi.MoveRequest;
                kind: Unary;
                name: "Move";
                O: typeof motionApi.MoveResponse;
            };
            moveOnGlobe: {
                I: typeof MoveOnGlobeRequest;
                kind: Unary;
                name: "MoveOnGlobe";
                O: typeof MoveOnGlobeResponse;
            };
            moveOnMap: {
                I: typeof MoveOnMapRequest;
                kind: Unary;
                name: "MoveOnMap";
                O: typeof MoveOnMapResponse;
            };
            stopPlan: {
                I: typeof StopPlanRequest;
                kind: Unary;
                name: "StopPlan";
                O: typeof StopPlanResponse;
            };
        };
        typeName: "viam.service.motion.v1.MotionService";
    },
>

motorService

get motorService(): Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
            getPosition: {
                I: typeof motorApi.GetPositionRequest;
                kind: Unary;
                name: "GetPosition";
                O: typeof motorApi.GetPositionResponse;
            };
            getProperties: {
                I: typeof motorApi.GetPropertiesRequest;
                kind: Unary;
                name: "GetProperties";
                O: typeof motorApi.GetPropertiesResponse;
            };
            goFor: {
                I: typeof GoForRequest;
                kind: Unary;
                name: "GoFor";
                O: typeof GoForResponse;
            };
            goTo: {
                I: typeof GoToRequest;
                kind: Unary;
                name: "GoTo";
                O: typeof GoToResponse;
            };
            isMoving: {
                I: typeof motorApi.IsMovingRequest;
                kind: Unary;
                name: "IsMoving";
                O: typeof motorApi.IsMovingResponse;
            };
            isPowered: {
                I: typeof IsPoweredRequest;
                kind: Unary;
                name: "IsPowered";
                O: typeof IsPoweredResponse;
            };
            resetZeroPosition: {
                I: typeof ResetZeroPositionRequest;
                kind: Unary;
                name: "ResetZeroPosition";
                O: typeof ResetZeroPositionResponse;
            };
            setPower: {
                I: typeof motorApi.SetPowerRequest;
                kind: Unary;
                name: "SetPower";
                O: typeof motorApi.SetPowerResponse;
            };
            setRPM: {
                I: typeof SetRPMRequest;
                kind: Unary;
                name: "SetRPM";
                O: typeof SetRPMResponse;
            };
            stop: {
                I: typeof motorApi.StopRequest;
                kind: Unary;
                name: "Stop";
                O: typeof motorApi.StopResponse;
            };
        };
        typeName: "viam.component.motor.v1.MotorService";
    },
>
Returns Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
            getPosition: {
                I: typeof motorApi.GetPositionRequest;
                kind: Unary;
                name: "GetPosition";
                O: typeof motorApi.GetPositionResponse;
            };
            getProperties: {
                I: typeof motorApi.GetPropertiesRequest;
                kind: Unary;
                name: "GetProperties";
                O: typeof motorApi.GetPropertiesResponse;
            };
            goFor: {
                I: typeof GoForRequest;
                kind: Unary;
                name: "GoFor";
                O: typeof GoForResponse;
            };
            goTo: {
                I: typeof GoToRequest;
                kind: Unary;
                name: "GoTo";
                O: typeof GoToResponse;
            };
            isMoving: {
                I: typeof motorApi.IsMovingRequest;
                kind: Unary;
                name: "IsMoving";
                O: typeof motorApi.IsMovingResponse;
            };
            isPowered: {
                I: typeof IsPoweredRequest;
                kind: Unary;
                name: "IsPowered";
                O: typeof IsPoweredResponse;
            };
            resetZeroPosition: {
                I: typeof ResetZeroPositionRequest;
                kind: Unary;
                name: "ResetZeroPosition";
                O: typeof ResetZeroPositionResponse;
            };
            setPower: {
                I: typeof motorApi.SetPowerRequest;
                kind: Unary;
                name: "SetPower";
                O: typeof motorApi.SetPowerResponse;
            };
            setRPM: {
                I: typeof SetRPMRequest;
                kind: Unary;
                name: "SetRPM";
                O: typeof SetRPMResponse;
            };
            stop: {
                I: typeof motorApi.StopRequest;
                kind: Unary;
                name: "Stop";
                O: typeof motorApi.StopResponse;
            };
        };
        typeName: "viam.component.motor.v1.MotorService";
    },
>

movementSensorService

get movementSensorService(): Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getAccuracy: {
                I: typeof GetAccuracyRequest;
                kind: Unary;
                name: "GetAccuracy";
                O: typeof GetAccuracyResponse;
            };
            getAngularVelocity: {
                I: typeof GetAngularVelocityRequest;
                kind: Unary;
                name: "GetAngularVelocity";
                O: typeof GetAngularVelocityResponse;
            };
            getCompassHeading: {
                I: typeof GetCompassHeadingRequest;
                kind: Unary;
                name: "GetCompassHeading";
                O: typeof GetCompassHeadingResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
            getLinearAcceleration: {
                I: typeof GetLinearAccelerationRequest;
                kind: Unary;
                name: "GetLinearAcceleration";
                O: typeof GetLinearAccelerationResponse;
            };
            getLinearVelocity: {
                I: typeof GetLinearVelocityRequest;
                kind: Unary;
                name: "GetLinearVelocity";
                O: typeof GetLinearVelocityResponse;
            };
            getOrientation: {
                I: typeof GetOrientationRequest;
                kind: Unary;
                name: "GetOrientation";
                O: typeof GetOrientationResponse;
            };
            getPosition: {
                I: typeof movementSensorApi.GetPositionRequest;
                kind: Unary;
                name: "GetPosition";
                O: typeof movementSensorApi.GetPositionResponse;
            };
            getProperties: {
                I: typeof movementSensorApi.GetPropertiesRequest;
                kind: Unary;
                name: "GetProperties";
                O: typeof movementSensorApi.GetPropertiesResponse;
            };
            getReadings: {
                I: typeof GetReadingsRequest;
                kind: Unary;
                name: "GetReadings";
                O: typeof GetReadingsResponse;
            };
        };
        typeName: "viam.component.movementsensor.v1.MovementSensorService";
    },
>
Returns Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getAccuracy: {
                I: typeof GetAccuracyRequest;
                kind: Unary;
                name: "GetAccuracy";
                O: typeof GetAccuracyResponse;
            };
            getAngularVelocity: {
                I: typeof GetAngularVelocityRequest;
                kind: Unary;
                name: "GetAngularVelocity";
                O: typeof GetAngularVelocityResponse;
            };
            getCompassHeading: {
                I: typeof GetCompassHeadingRequest;
                kind: Unary;
                name: "GetCompassHeading";
                O: typeof GetCompassHeadingResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
            getLinearAcceleration: {
                I: typeof GetLinearAccelerationRequest;
                kind: Unary;
                name: "GetLinearAcceleration";
                O: typeof GetLinearAccelerationResponse;
            };
            getLinearVelocity: {
                I: typeof GetLinearVelocityRequest;
                kind: Unary;
                name: "GetLinearVelocity";
                O: typeof GetLinearVelocityResponse;
            };
            getOrientation: {
                I: typeof GetOrientationRequest;
                kind: Unary;
                name: "GetOrientation";
                O: typeof GetOrientationResponse;
            };
            getPosition: {
                I: typeof movementSensorApi.GetPositionRequest;
                kind: Unary;
                name: "GetPosition";
                O: typeof movementSensorApi.GetPositionResponse;
            };
            getProperties: {
                I: typeof movementSensorApi.GetPropertiesRequest;
                kind: Unary;
                name: "GetProperties";
                O: typeof movementSensorApi.GetPropertiesResponse;
            };
            getReadings: {
                I: typeof GetReadingsRequest;
                kind: Unary;
                name: "GetReadings";
                O: typeof GetReadingsResponse;
            };
        };
        typeName: "viam.component.movementsensor.v1.MovementSensorService";
    },
>

navigationService

get navigationService(): Client<
    {
        methods: {
            addWaypoint: {
                I: typeof AddWaypointRequest;
                kind: Unary;
                name: "AddWaypoint";
                O: typeof AddWaypointResponse;
            };
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getLocation: {
                I: typeof navigationApi.GetLocationRequest;
                kind: Unary;
                name: "GetLocation";
                O: typeof navigationApi.GetLocationResponse;
            };
            getMode: {
                I: typeof GetModeRequest;
                kind: Unary;
                name: "GetMode";
                O: typeof GetModeResponse;
            };
            getObstacles: {
                I: typeof GetObstaclesRequest;
                kind: Unary;
                name: "GetObstacles";
                O: typeof GetObstaclesResponse;
            };
            getPaths: {
                I: typeof GetPathsRequest;
                kind: Unary;
                name: "GetPaths";
                O: typeof GetPathsResponse;
            };
            getProperties: {
                I: typeof navigationApi.GetPropertiesRequest;
                kind: Unary;
                name: "GetProperties";
                O: typeof navigationApi.GetPropertiesResponse;
            };
            getWaypoints: {
                I: typeof GetWaypointsRequest;
                kind: Unary;
                name: "GetWaypoints";
                O: typeof GetWaypointsResponse;
            };
            removeWaypoint: {
                I: typeof RemoveWaypointRequest;
                kind: Unary;
                name: "RemoveWaypoint";
                O: typeof RemoveWaypointResponse;
            };
            setMode: {
                I: typeof SetModeRequest;
                kind: Unary;
                name: "SetMode";
                O: typeof SetModeResponse;
            };
        };
        typeName: "viam.service.navigation.v1.NavigationService";
    },
>
Returns Client<
    {
        methods: {
            addWaypoint: {
                I: typeof AddWaypointRequest;
                kind: Unary;
                name: "AddWaypoint";
                O: typeof AddWaypointResponse;
            };
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getLocation: {
                I: typeof navigationApi.GetLocationRequest;
                kind: Unary;
                name: "GetLocation";
                O: typeof navigationApi.GetLocationResponse;
            };
            getMode: {
                I: typeof GetModeRequest;
                kind: Unary;
                name: "GetMode";
                O: typeof GetModeResponse;
            };
            getObstacles: {
                I: typeof GetObstaclesRequest;
                kind: Unary;
                name: "GetObstacles";
                O: typeof GetObstaclesResponse;
            };
            getPaths: {
                I: typeof GetPathsRequest;
                kind: Unary;
                name: "GetPaths";
                O: typeof GetPathsResponse;
            };
            getProperties: {
                I: typeof navigationApi.GetPropertiesRequest;
                kind: Unary;
                name: "GetProperties";
                O: typeof navigationApi.GetPropertiesResponse;
            };
            getWaypoints: {
                I: typeof GetWaypointsRequest;
                kind: Unary;
                name: "GetWaypoints";
                O: typeof GetWaypointsResponse;
            };
            removeWaypoint: {
                I: typeof RemoveWaypointRequest;
                kind: Unary;
                name: "RemoveWaypoint";
                O: typeof RemoveWaypointResponse;
            };
            setMode: {
                I: typeof SetModeRequest;
                kind: Unary;
                name: "SetMode";
                O: typeof SetModeResponse;
            };
        };
        typeName: "viam.service.navigation.v1.NavigationService";
    },
>

peerConnection

get peerConnection(): undefined | RTCPeerConnection
Returns undefined | RTCPeerConnection

powerSensorService

get powerSensorService(): Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getCurrent: {
                I: typeof GetCurrentRequest;
                kind: Unary;
                name: "GetCurrent";
                O: typeof GetCurrentResponse;
            };
            getPower: {
                I: typeof GetPowerRequest;
                kind: Unary;
                name: "GetPower";
                O: typeof GetPowerResponse;
            };
            getReadings: {
                I: typeof GetReadingsRequest;
                kind: Unary;
                name: "GetReadings";
                O: typeof GetReadingsResponse;
            };
            getVoltage: {
                I: typeof GetVoltageRequest;
                kind: Unary;
                name: "GetVoltage";
                O: typeof GetVoltageResponse;
            };
        };
        typeName: "viam.component.powersensor.v1.PowerSensorService";
    },
>
Returns Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getCurrent: {
                I: typeof GetCurrentRequest;
                kind: Unary;
                name: "GetCurrent";
                O: typeof GetCurrentResponse;
            };
            getPower: {
                I: typeof GetPowerRequest;
                kind: Unary;
                name: "GetPower";
                O: typeof GetPowerResponse;
            };
            getReadings: {
                I: typeof GetReadingsRequest;
                kind: Unary;
                name: "GetReadings";
                O: typeof GetReadingsResponse;
            };
            getVoltage: {
                I: typeof GetVoltageRequest;
                kind: Unary;
                name: "GetVoltage";
                O: typeof GetVoltageResponse;
            };
        };
        typeName: "viam.component.powersensor.v1.PowerSensorService";
    },
>

robotService

get robotService(): Client<
    {
        methods: {
            blockForOperation: {
                I: typeof BlockForOperationRequest;
                kind: Unary;
                name: "BlockForOperation";
                O: typeof BlockForOperationResponse;
            };
            cancelOperation: {
                I: typeof CancelOperationRequest;
                kind: Unary;
                name: "CancelOperation";
                O: typeof CancelOperationResponse;
            };
            frameSystemConfig: {
                I: typeof FrameSystemConfigRequest;
                kind: Unary;
                name: "FrameSystemConfig";
                O: typeof FrameSystemConfigResponse;
            };
            getCloudMetadata: {
                I: typeof GetCloudMetadataRequest;
                kind: Unary;
                name: "GetCloudMetadata";
                O: typeof GetCloudMetadataResponse;
            };
            getMachineStatus: {
                I: typeof GetMachineStatusRequest;
                kind: Unary;
                name: "GetMachineStatus";
                O: typeof GetMachineStatusResponse;
            };
            getModelsFromModules: {
                I: typeof GetModelsFromModulesRequest;
                kind: Unary;
                name: "GetModelsFromModules";
                O: typeof GetModelsFromModulesResponse;
            };
            getOperations: {
                I: typeof GetOperationsRequest;
                kind: Unary;
                name: "GetOperations";
                O: typeof GetOperationsResponse;
            };
            getPose: {
                I: typeof robotApi.GetPoseRequest;
                kind: Unary;
                name: "GetPose";
                O: typeof robotApi.GetPoseResponse;
            };
            getSessions: {
                I: typeof GetSessionsRequest;
                kind: Unary;
                name: "GetSessions";
                O: typeof GetSessionsResponse;
            };
            getStatus: {
                I: typeof GetStatusRequest;
                kind: Unary;
                name: "GetStatus";
                O: typeof GetStatusResponse;
            };
            getVersion: {
                I: typeof GetVersionRequest;
                kind: Unary;
                name: "GetVersion";
                O: typeof GetVersionResponse;
            };
            listTunnels: {
                I: typeof ListTunnelsRequest;
                kind: Unary;
                name: "ListTunnels";
                O: typeof ListTunnelsResponse;
            };
            log: {
                I: typeof robotApi.LogRequest;
                kind: Unary;
                name: "Log";
                O: typeof robotApi.LogResponse;
            };
            resourceNames: {
                I: typeof ResourceNamesRequest;
                kind: Unary;
                name: "ResourceNames";
                O: typeof ResourceNamesResponse;
            };
            resourceRPCSubtypes: {
                I: typeof ResourceRPCSubtypesRequest;
                kind: Unary;
                name: "ResourceRPCSubtypes";
                O: typeof ResourceRPCSubtypesResponse;
            };
            restartModule: {
                I: typeof RestartModuleRequest;
                kind: Unary;
                name: "RestartModule";
                O: typeof RestartModuleResponse;
            };
            sendSessionHeartbeat: {
                I: typeof SendSessionHeartbeatRequest;
                kind: Unary;
                name: "SendSessionHeartbeat";
                O: typeof SendSessionHeartbeatResponse;
            };
            shutdown: {
                I: typeof ShutdownRequest;
                kind: Unary;
                name: "Shutdown";
                O: typeof ShutdownResponse;
            };
            startSession: {
                I: typeof StartSessionRequest;
                kind: Unary;
                name: "StartSession";
                O: typeof StartSessionResponse;
            };
            stopAll: {
                I: typeof StopAllRequest;
                kind: Unary;
                name: "StopAll";
                O: typeof StopAllResponse;
            };
            streamStatus: {
                I: typeof StreamStatusRequest;
                kind: ServerStreaming;
                name: "StreamStatus";
                O: typeof StreamStatusResponse;
            };
            transformPCD: {
                I: typeof TransformPCDRequest;
                kind: Unary;
                name: "TransformPCD";
                O: typeof TransformPCDResponse;
            };
            transformPose: {
                I: typeof TransformPoseRequest;
                kind: Unary;
                name: "TransformPose";
                O: typeof TransformPoseResponse;
            };
            tunnel: {
                I: typeof TunnelRequest;
                kind: BiDiStreaming;
                name: "Tunnel";
                O: typeof TunnelResponse;
            };
        };
        typeName: "viam.robot.v1.RobotService";
    },
>
Returns Client<
    {
        methods: {
            blockForOperation: {
                I: typeof BlockForOperationRequest;
                kind: Unary;
                name: "BlockForOperation";
                O: typeof BlockForOperationResponse;
            };
            cancelOperation: {
                I: typeof CancelOperationRequest;
                kind: Unary;
                name: "CancelOperation";
                O: typeof CancelOperationResponse;
            };
            frameSystemConfig: {
                I: typeof FrameSystemConfigRequest;
                kind: Unary;
                name: "FrameSystemConfig";
                O: typeof FrameSystemConfigResponse;
            };
            getCloudMetadata: {
                I: typeof GetCloudMetadataRequest;
                kind: Unary;
                name: "GetCloudMetadata";
                O: typeof GetCloudMetadataResponse;
            };
            getMachineStatus: {
                I: typeof GetMachineStatusRequest;
                kind: Unary;
                name: "GetMachineStatus";
                O: typeof GetMachineStatusResponse;
            };
            getModelsFromModules: {
                I: typeof GetModelsFromModulesRequest;
                kind: Unary;
                name: "GetModelsFromModules";
                O: typeof GetModelsFromModulesResponse;
            };
            getOperations: {
                I: typeof GetOperationsRequest;
                kind: Unary;
                name: "GetOperations";
                O: typeof GetOperationsResponse;
            };
            getPose: {
                I: typeof robotApi.GetPoseRequest;
                kind: Unary;
                name: "GetPose";
                O: typeof robotApi.GetPoseResponse;
            };
            getSessions: {
                I: typeof GetSessionsRequest;
                kind: Unary;
                name: "GetSessions";
                O: typeof GetSessionsResponse;
            };
            getStatus: {
                I: typeof GetStatusRequest;
                kind: Unary;
                name: "GetStatus";
                O: typeof GetStatusResponse;
            };
            getVersion: {
                I: typeof GetVersionRequest;
                kind: Unary;
                name: "GetVersion";
                O: typeof GetVersionResponse;
            };
            listTunnels: {
                I: typeof ListTunnelsRequest;
                kind: Unary;
                name: "ListTunnels";
                O: typeof ListTunnelsResponse;
            };
            log: {
                I: typeof robotApi.LogRequest;
                kind: Unary;
                name: "Log";
                O: typeof robotApi.LogResponse;
            };
            resourceNames: {
                I: typeof ResourceNamesRequest;
                kind: Unary;
                name: "ResourceNames";
                O: typeof ResourceNamesResponse;
            };
            resourceRPCSubtypes: {
                I: typeof ResourceRPCSubtypesRequest;
                kind: Unary;
                name: "ResourceRPCSubtypes";
                O: typeof ResourceRPCSubtypesResponse;
            };
            restartModule: {
                I: typeof RestartModuleRequest;
                kind: Unary;
                name: "RestartModule";
                O: typeof RestartModuleResponse;
            };
            sendSessionHeartbeat: {
                I: typeof SendSessionHeartbeatRequest;
                kind: Unary;
                name: "SendSessionHeartbeat";
                O: typeof SendSessionHeartbeatResponse;
            };
            shutdown: {
                I: typeof ShutdownRequest;
                kind: Unary;
                name: "Shutdown";
                O: typeof ShutdownResponse;
            };
            startSession: {
                I: typeof StartSessionRequest;
                kind: Unary;
                name: "StartSession";
                O: typeof StartSessionResponse;
            };
            stopAll: {
                I: typeof StopAllRequest;
                kind: Unary;
                name: "StopAll";
                O: typeof StopAllResponse;
            };
            streamStatus: {
                I: typeof StreamStatusRequest;
                kind: ServerStreaming;
                name: "StreamStatus";
                O: typeof StreamStatusResponse;
            };
            transformPCD: {
                I: typeof TransformPCDRequest;
                kind: Unary;
                name: "TransformPCD";
                O: typeof TransformPCDResponse;
            };
            transformPose: {
                I: typeof TransformPoseRequest;
                kind: Unary;
                name: "TransformPose";
                O: typeof TransformPoseResponse;
            };
            tunnel: {
                I: typeof TunnelRequest;
                kind: BiDiStreaming;
                name: "Tunnel";
                O: typeof TunnelResponse;
            };
        };
        typeName: "viam.robot.v1.RobotService";
    },
>

servoService

get servoService(): Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
            getPosition: {
                I: typeof servoApi.GetPositionRequest;
                kind: Unary;
                name: "GetPosition";
                O: typeof servoApi.GetPositionResponse;
            };
            isMoving: {
                I: typeof servoApi.IsMovingRequest;
                kind: Unary;
                name: "IsMoving";
                O: typeof servoApi.IsMovingResponse;
            };
            move: {
                I: typeof servoApi.MoveRequest;
                kind: Unary;
                name: "Move";
                O: typeof servoApi.MoveResponse;
            };
            stop: {
                I: typeof servoApi.StopRequest;
                kind: Unary;
                name: "Stop";
                O: typeof servoApi.StopResponse;
            };
        };
        typeName: "viam.component.servo.v1.ServoService";
    },
>
Returns Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getGeometries: {
                I: typeof GetGeometriesRequest;
                kind: Unary;
                name: "GetGeometries";
                O: typeof GetGeometriesResponse;
            };
            getPosition: {
                I: typeof servoApi.GetPositionRequest;
                kind: Unary;
                name: "GetPosition";
                O: typeof servoApi.GetPositionResponse;
            };
            isMoving: {
                I: typeof servoApi.IsMovingRequest;
                kind: Unary;
                name: "IsMoving";
                O: typeof servoApi.IsMovingResponse;
            };
            move: {
                I: typeof servoApi.MoveRequest;
                kind: Unary;
                name: "Move";
                O: typeof servoApi.MoveResponse;
            };
            stop: {
                I: typeof servoApi.StopRequest;
                kind: Unary;
                name: "Stop";
                O: typeof servoApi.StopResponse;
            };
        };
        typeName: "viam.component.servo.v1.ServoService";
    },
>

sessionId

get sessionId(): string
Returns string

slamService

get slamService(): Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getInternalState: {
                I: typeof GetInternalStateRequest;
                kind: ServerStreaming;
                name: "GetInternalState";
                O: typeof GetInternalStateResponse;
            };
            getPointCloudMap: {
                I: typeof GetPointCloudMapRequest;
                kind: ServerStreaming;
                name: "GetPointCloudMap";
                O: typeof GetPointCloudMapResponse;
            };
            getPosition: {
                I: typeof slamApi.GetPositionRequest;
                kind: Unary;
                name: "GetPosition";
                O: typeof slamApi.GetPositionResponse;
            };
            getProperties: {
                I: typeof slamApi.GetPropertiesRequest;
                kind: Unary;
                name: "GetProperties";
                O: typeof slamApi.GetPropertiesResponse;
            };
        };
        typeName: "viam.service.slam.v1.SLAMService";
    },
>
Returns Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getInternalState: {
                I: typeof GetInternalStateRequest;
                kind: ServerStreaming;
                name: "GetInternalState";
                O: typeof GetInternalStateResponse;
            };
            getPointCloudMap: {
                I: typeof GetPointCloudMapRequest;
                kind: ServerStreaming;
                name: "GetPointCloudMap";
                O: typeof GetPointCloudMapResponse;
            };
            getPosition: {
                I: typeof slamApi.GetPositionRequest;
                kind: Unary;
                name: "GetPosition";
                O: typeof slamApi.GetPositionResponse;
            };
            getProperties: {
                I: typeof slamApi.GetPropertiesRequest;
                kind: Unary;
                name: "GetProperties";
                O: typeof slamApi.GetPropertiesResponse;
            };
        };
        typeName: "viam.service.slam.v1.SLAMService";
    },
>

visionService

get visionService(): Client<
    {
        methods: {
            captureAllFromCamera: {
                I: typeof CaptureAllFromCameraRequest;
                kind: Unary;
                name: "CaptureAllFromCamera";
                O: typeof CaptureAllFromCameraResponse;
            };
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getClassifications: {
                I: typeof GetClassificationsRequest;
                kind: Unary;
                name: "GetClassifications";
                O: typeof GetClassificationsResponse;
            };
            getClassificationsFromCamera: {
                I: typeof GetClassificationsFromCameraRequest;
                kind: Unary;
                name: "GetClassificationsFromCamera";
                O: typeof GetClassificationsFromCameraResponse;
            };
            getDetections: {
                I: typeof GetDetectionsRequest;
                kind: Unary;
                name: "GetDetections";
                O: typeof GetDetectionsResponse;
            };
            getDetectionsFromCamera: {
                I: typeof GetDetectionsFromCameraRequest;
                kind: Unary;
                name: "GetDetectionsFromCamera";
                O: typeof GetDetectionsFromCameraResponse;
            };
            getObjectPointClouds: {
                I: typeof GetObjectPointCloudsRequest;
                kind: Unary;
                name: "GetObjectPointClouds";
                O: typeof GetObjectPointCloudsResponse;
            };
            getProperties: {
                I: typeof visionApi.GetPropertiesRequest;
                kind: Unary;
                name: "GetProperties";
                O: typeof visionApi.GetPropertiesResponse;
            };
        };
        typeName: "viam.service.vision.v1.VisionService";
    },
>
Returns Client<
    {
        methods: {
            captureAllFromCamera: {
                I: typeof CaptureAllFromCameraRequest;
                kind: Unary;
                name: "CaptureAllFromCamera";
                O: typeof CaptureAllFromCameraResponse;
            };
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getClassifications: {
                I: typeof GetClassificationsRequest;
                kind: Unary;
                name: "GetClassifications";
                O: typeof GetClassificationsResponse;
            };
            getClassificationsFromCamera: {
                I: typeof GetClassificationsFromCameraRequest;
                kind: Unary;
                name: "GetClassificationsFromCamera";
                O: typeof GetClassificationsFromCameraResponse;
            };
            getDetections: {
                I: typeof GetDetectionsRequest;
                kind: Unary;
                name: "GetDetections";
                O: typeof GetDetectionsResponse;
            };
            getDetectionsFromCamera: {
                I: typeof GetDetectionsFromCameraRequest;
                kind: Unary;
                name: "GetDetectionsFromCamera";
                O: typeof GetDetectionsFromCameraResponse;
            };
            getObjectPointClouds: {
                I: typeof GetObjectPointCloudsRequest;
                kind: Unary;
                name: "GetObjectPointClouds";
                O: typeof GetObjectPointCloudsResponse;
            };
            getProperties: {
                I: typeof visionApi.GetPropertiesRequest;
                kind: Unary;
                name: "GetProperties";
                O: typeof visionApi.GetPropertiesResponse;
            };
        };
        typeName: "viam.service.vision.v1.VisionService";
    },
>

worldStateStoreService

get worldStateStoreService(): Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getTransform: {
                I: typeof GetTransformRequest;
                kind: Unary;
                name: "GetTransform";
                O: typeof GetTransformResponse;
            };
            listUUIDs: {
                I: typeof ListUUIDsRequest;
                kind: Unary;
                name: "ListUUIDs";
                O: typeof ListUUIDsResponse;
            };
            streamTransformChanges: {
                I: typeof StreamTransformChangesRequest;
                kind: ServerStreaming;
                name: "StreamTransformChanges";
                O: typeof StreamTransformChangesResponse;
            };
        };
        typeName: "viam.service.worldstatestore.v1.WorldStateStoreService";
    },
>
Returns Client<
    {
        methods: {
            doCommand: {
                I: typeof DoCommandRequest;
                kind: Unary;
                name: "DoCommand";
                O: typeof DoCommandResponse;
            };
            getTransform: {
                I: typeof GetTransformRequest;
                kind: Unary;
                name: "GetTransform";
                O: typeof GetTransformResponse;
            };
            listUUIDs: {
                I: typeof ListUUIDsRequest;
                kind: Unary;
                name: "ListUUIDs";
                O: typeof ListUUIDsResponse;
            };
            streamTransformChanges: {
                I: typeof StreamTransformChangesRequest;
                kind: ServerStreaming;
                name: "StreamTransformChanges";
                O: typeof StreamTransformChangesResponse;
            };
        };
        typeName: "viam.service.worldstatestore.v1.WorldStateStoreService";
    },
>

Methods

connect

connect(__namedParameters?: ConnectOptions): Promise<void>
Parameters
- __namedParameters: ConnectOptions = {}
Returns Promise<void>

createServiceClient

createServiceClient<T extends ServiceType>(svcType: T): Client<T>
Type Parameters
- T extends ServiceType
Parameters
- svcType: T
Returns Client<T>

dial

dial(conf: DialConf): Promise<Client>
Parameters
- conf: DialConf
Returns Promise<Client>

disconnect

disconnect(): Promise<void>
Returns Promise<void>

emit

emit(type: string, args: unknown): void
Parameters
- type: string
- args: unknown
Returns void
Inherited from EventDispatcher.emit

getMachineStatus

getMachineStatus(): Promise<GetMachineStatusResponse>
Alpha
Get the current status of the machine.

Returns Promise<GetMachineStatusResponse>
Example
```
const machineStatus = await machine.getMachineStatus();
```
Implementation of Robot.getMachineStatus

getVersion

getVersion(): Promise<GetVersionResponse>
Returns Promise<GetVersionResponse>

has

has(type: string, listener: Callback): undefined | boolean
Parameters
- type: string
- listener: Callback
Returns undefined | boolean
Inherited from EventDispatcher.has

isConnected

isConnected(): boolean
Returns boolean

off

off(type: string, listener: Callback): void
Parameters
- type: string
- listener: Callback
Returns void
Inherited from EventDispatcher.off

`Alpha`on

on(type: string, listener: Callback): void
Parameters
- type: string
- listener: Callback
Returns void
Implementation of Robot.on
Inherited from EventDispatcher.on

once

once(type: string, listener: Callback): void
Parameters
- type: string
- listener: Callback
Returns void
Inherited from EventDispatcher.once

App/Cloud

getCloudMetadata

getCloudMetadata(): Promise<GetCloudMetadataResponse>
Alpha
Get app-related information about the machine.

Returns Promise<GetCloudMetadataResponse>
Example
```
const cloudMetadata = await machine.getCloudMetadata();
```
Implementation of Robot.getCloudMetadata

Frame System

frameSystemConfig

frameSystemConfig(
transforms: commonApi.Transform[],
): Promise<FrameSystemConfig[]>
Alpha
Get the configuration of the frame system of a given machine.
Parameters
- transforms: commonApi.Transform[]
Returns Promise<FrameSystemConfig[]>
Example
```
const frameSystemConfig = await machine.frameSystemConfig();
```
Implementation of Robot.frameSystemConfig

transformPCD

transformPCD(
    pointCloudPCD: Uint8Array,
    source: string,
    destination: string,
): Promise<Uint8Array>
Alpha
Transform a given source point cloud from the reference frame to a new specified destination which is a reference frame.
Parameters
- pointCloudPCD: Uint8Array
  The point clouds to transform. This should be in the PCD format encoded into bytes
- source: string
  The reference frame of the point cloud.
- destination: string
  The reference frame into which the source data should be transformed, if unset this defaults to the "world" reference frame. Do not move the robot between the generation of the initial pointcloud and the receipt of the transformed pointcloud because that will make the transformations inaccurate.
Returns Promise<Uint8Array>
Implementation of Robot.transformPCD

transformPose

transformPose(
    source: commonApi.PoseInFrame,
    destination: string,
    supplementalTransforms: commonApi.Transform[],
): Promise<commonApi.PoseInFrame>
Alpha
Transform a given source Pose from the reference frame to a new specified destination which is a reference frame.
Parameters
- source: commonApi.PoseInFrame
- destination: string
  The name of the reference frame to transform the given
- supplementalTransforms: commonApi.Transform[]
  Pose information on any additional reference frames that are needed to perform the transform
Returns Promise<commonApi.PoseInFrame>
Implementation of Robot.transformPose

Operations

blockForOperation

blockForOperation(id: string): Promise<void>
Alpha
Blocks on the specified operation on the machine. This function will only return when the specific operation has finished or has been cancelled.
Parameters
- id: string
  ID of operation to block on.
Returns Promise<void>
Example
```
await machine.blockForOperation('INSERT OPERATION ID');
```
Implementation of Robot.blockForOperation

cancelOperation

cancelOperation(id: string): Promise<void>
Alpha
Cancels the specified operation on the machine.
Parameters
- id: string
  ID of operation to kill.
Returns Promise<void>
Example
```
await machine.cancelOperation('INSERT OPERATION ID');
```
Implementation of Robot.cancelOperation

getOperations

getOperations(): Promise<Operation[]>
Alpha
Get the list of operations currently running on the machine.

Returns Promise<Operation[]>
Example
```
const operations = await machine.getOperations();
```
Implementation of Robot.getOperations

stopAll

stopAll(): Promise<void>
Alpha
Cancel all current and outstanding operations for the robot and stop all actuators and movement.

Returns Promise<void>
Example
```
await machine.stopAll();
```
Implementation of Robot.stopAll

Resources

getModelsFromModules

getModelsFromModules(): Promise<ModuleModel[]>
Alpha
Get the list of models provided by modules on the machine.

Returns Promise<ModuleModel[]>
Example
```
const models = await machine.getModelsFromModules();
```
Implementation of Robot.getModelsFromModules

resourceNames

resourceNames(): Promise<commonApi.ResourceName[]>
Alpha
Get a list of all resources on the machine.

Returns Promise<commonApi.ResourceName[]>
Example
```
const resourceNames = await machine.resourceNames();
```
Implementation of Robot.resourceNames

resourceRPCSubtypes

resourceRPCSubtypes(): Promise<ResourceRPCSubtype[]>
Alpha
Get a list of all resource types.

Returns Promise<ResourceRPCSubtype[]>
Example
```
const resourceRPCSubtypes = await machine.resourceRPCSubtypes();
```
Implementation of Robot.resourceRPCSubtypes

Sessions

getSessions

getSessions(): Promise<Session[]>
Alpha
Get the list of sessions currently connected to the machine.

Returns Promise<Session[]>
Example
```
const sessions = await machine.getSessions();
```
Implementation of Robot.getSessions

Class Client

Hierarchy

Implements

Index

Modules

Constructors

Properties

Accessors

Methods

App/Cloud

Frame System

Operations

Resources

Sessions

Modules

restartModule

Parameters

Returns Promise<void>

Example

Constructors

constructor

Parameters

Returns Client

Properties

listeners

Accessors

armService

baseService

boardService

discoveryService

encoderService

gantryService

genericService

gripperService

inputControllerService

mlModelService

Returns Client< { methods: { infer: { I: typeof InferRequest; kind: Unary; name: "Infer"; O: typeof InferResponse; }; metadata: { I: typeof MetadataRequest; kind: Unary; name: "Metadata"; O: typeof MetadataResponse; }; }; typeName: "viam.service.mlmodel.v1.MLModelService"; },>

motionService

motorService

movementSensorService

navigationService

peerConnection

Returns undefined | RTCPeerConnection

powerSensorService

robotService

servoService

sessionId

Returns string

slamService

visionService

worldStateStoreService

Methods

connect

Parameters

Returns Promise<void>

createServiceClient

Type Parameters

Parameters

Returns Client<T>

dial

Parameters

Returns Promise<Client>

disconnect

Returns Promise<void>

emit

Parameters

Returns void

getMachineStatus

Returns Promise<GetMachineStatusResponse>

Example

getVersion

Returns Promise<GetVersionResponse>

has

Parameters

Returns undefined | boolean

isConnected

Returns boolean

off

Parameters

Returns void

Returns Client<
{
methods: {
infer: {
I: typeof InferRequest;
kind: Unary;
name: "Infer";
O: typeof InferResponse;
};
metadata: {
I: typeof MetadataRequest;
kind: Unary;
name: "Metadata";
O: typeof MetadataResponse;
};
};
typeName: "viam.service.mlmodel.v1.MLModelService";
},
>

`Alpha`on