Interface Robot

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');
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Alphaon

getMachineStatus

• getMachineStatus(): Promise<PlainMessage<GetMachineStatusResponse>>
  Alpha

  Get the current status of the machine.

  Returns Promise<PlainMessage<GetMachineStatusResponse>>

  Example

  const machineStatus = await machine.getMachineStatus();
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getCloudMetadata

• getCloudMetadata(): Promise<PlainMessage<GetCloudMetadataResponse>>
  Alpha

  Get app-related information about the machine.

  Returns Promise<PlainMessage<GetCloudMetadataResponse>>

  Example

  const cloudMetadata = await machine.getCloudMetadata();
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frameSystemConfig

• frameSystemConfig(
      transform: PlainMessage<commonApi.Transform>[],
  ): Promise<PlainMessage<FrameSystemConfig>[]>
  Alpha

  Get the configuration of the frame system of a given machine.

  Parameters

  • transform: PlainMessage<commonApi.Transform>[]

  Returns Promise<PlainMessage<FrameSystemConfig>[]>

  Example

  const frameSystemConfig = await machine.frameSystemConfig();
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transformPCD

• transformPCD(
      pointCloudPCD: Uint8Array,
      source: string,
      destination: string,
  ): Promise<Uint8Array<ArrayBufferLike>>
  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<ArrayBufferLike>>

transformPose

• transformPose(
      source: PoseInFrame,
      destination: string,
      supplementalTransforms: PlainMessage<commonApi.Transform>[],
      callOptions?: CallOptions,
  ): Promise<PlainMessage<commonApi.PoseInFrame>>
  Alpha

  Transform a given source Pose from the reference frame to a new specified destination which is a reference frame.

  Parameters

  • source: PoseInFrame
  • destination: string

    The name of the reference frame to transform the given

  • supplementalTransforms: PlainMessage<commonApi.Transform>[]

    Pose information on any additional reference frames that are needed to perform the transform

  • OptionalcallOptions: CallOptions

  Returns Promise<PlainMessage<commonApi.PoseInFrame>>

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');
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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');
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getOperations

• getOperations(): Promise<PlainMessage<Operation>[]>
  Alpha

  Get the list of operations currently running on the machine.

  Returns Promise<PlainMessage<Operation>[]>

  Example

  const operations = await machine.getOperations();
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stopAll

• stopAll(extra?: Map<string, Struct>): Promise<void>
  Alpha

  Cancel all current and outstanding operations for the robot and stop all actuators and movement.

  Parameters

  • Optionalextra: Map<string, Struct>

    Any extra parameters to pass to the components' stop methods, keyed on the component's resource name.

  Returns Promise<void>

  Example

  await machine.stopAll();
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getModelsFromModules

• getModelsFromModules(): Promise<PlainMessage<ModuleModel>[]>
  Alpha

  Get the list of models provided by modules on the machine.

  Returns Promise<PlainMessage<ModuleModel>[]>

  Example

  const models = await machine.getModelsFromModules();
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resourceNames

• resourceNames(): Promise<PlainMessage<commonApi.ResourceName>[]>
  Alpha

  Get a list of all resources on the machine.

  Returns Promise<PlainMessage<commonApi.ResourceName>[]>

  Example

  const resourceNames = await machine.resourceNames();
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resourceRPCSubtypes

• resourceRPCSubtypes(): Promise<PlainMessage<ResourceRPCSubtype>[]>
  Alpha

  Get a list of all resource types.

  Returns Promise<PlainMessage<ResourceRPCSubtype>[]>

  Example

  const resourceRPCSubtypes = await machine.resourceRPCSubtypes();
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getSessions

• getSessions(): Promise<PlainMessage<Session>[]>
  Alpha

  Get the list of sessions currently connected to the machine.

  Returns Promise<PlainMessage<Session>[]>

  Example

  const sessions = await machine.getSessions();
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