Class WorldStateStoreClient

constructor

• new WorldStateStoreClient(
      client: Client,
      name: string,
      options?: Options,
  ): WorldStateStoreClient

  Parameters

  • client: Client
  • name: string
  • options: Options = {}

  Returns WorldStateStoreClient

callOptions

Readonlyname

doCommand

• doCommand(
      command: Struct | Record<string, JsonValue>,
      callOptions?: CallOptions,
  ): Promise<JsonValue>

  Send/Receive arbitrary commands to the resource.

  Parameters

  • command: Struct | Record<string, JsonValue>

    The command to execute. Accepts either a Struct or a plain object, which will be converted automatically.

  • callOptions: CallOptions = ...

  Returns Promise<JsonValue>

  Example

  // Plain object (recommended)
  const result = await resource.doCommand({
    myCommand: { key: 'value' },
  });
  
  // Struct (still supported)
  import { Struct } from '@viamrobotics/sdk';
  
  const result = await resource.doCommand(Struct.fromJson({ myCommand: { key: 'value' } }));
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getStatus

• getStatus(callOptions?: CallOptions): Promise<JsonValue>

  Get the status of the resource.

  Parameters

  • callOptions: CallOptions = ...

  Returns Promise<JsonValue>

getTransform

• getTransform(
      uuid: string,
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<TransformWithUUID>

  GetTransform returns a world state transform by UUID.

  Parameters

  • uuid: string

    The UUID of the transform to retrieve

  • extra: {} = {}

    Additional arguments to the method

  • callOptions: CallOptions = ...

  Returns Promise<TransformWithUUID>

  Example

  const worldStateStore = new VIAM.WorldStateStoreClient(machine, 'builtin');
  
  // Get a specific transform by UUID
  const transform = await worldStateStore.getTransform(uuid);
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listUUIDs

• listUUIDs(extra?: {}, callOptions?: CallOptions): Promise<string[]>

  ListUUIDs returns all world state transform UUIDs.

  Parameters

  • extra: {} = {}

    Additional arguments to the method

  • callOptions: CallOptions = ...

  Returns Promise<string[]>

  Example

  const worldStateStore = new VIAM.WorldStateStoreClient(machine, 'builtin');
  
  // Get all transform UUIDs
  const uuids = await worldStateStore.listUUIDs();
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streamTransformChanges

• streamTransformChanges(
      extra?: {},
      callOptions?: CallOptions,
  ): AsyncGenerator<TransformChangeEvent, void>

  StreamTransformChanges streams changes to world state transforms.

  The returned transform will only contain the fields that have changed.

  Parameters

  • extra: {} = {}

    Additional arguments to the method

  • callOptions: CallOptions = ...

  Returns AsyncGenerator<TransformChangeEvent, void>

  Example

  const worldStateStore = new VIAM.WorldStateStoreClient(machine, 'builtin');
  
  // Stream transform changes
  const stream = worldStateStore.streamTransformChanges();
  for await (const change of stream) {
    console.log('Transform change:', change.changeType, change.transform);
  }
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