Interface Robot

Hierarchy

Robot

Implemented by

RobotClient

Index

Properties

Properties

on

on: ((type: "reconnected" | "disconnected", listener: Callback) => void)

Type declaration

- (type: "reconnected" | "disconnected", listener: Callback): void
- Alpha
  Call a function when an event of either 'reconnected' or 'disconnected' is triggered. Note that these events will only be triggered on WebRTC connections.
  Parameters
  - type: "reconnected" | "disconnected"
    
    The event ('reconnected' or 'disconnected') that was triggered.
  - listener: Callback
    
    The function to call
  Returns void

Operations

blockForOperation

blockForOperation(id: string): Promise<void>
Alpha
Blocks on the specified operation on the robot. 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>

cancelOperation

cancelOperation(id: string): Promise<void>
Alpha
Cancels the specified operation on the robot.
Parameters
- id: string
  
  ID of operation to kill.
Returns Promise<void>

getOperations

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

Returns Promise<Operation[]>

stopAll

stopAll(extra?: Map<string, StructType>): Promise<void>
Alpha
Cancel all current and outstanding operations for the robot and stop all actuators and movement.
Parameters
- Optional extra: Map<string, StructType>
  
  Any extra parameters to pass to the components' stop methods, keyed on the component's resource name.
Returns Promise<void>

Discovery

discoverComponents

discoverComponents(queries: DiscoveryQuery[]): Promise<Discovery[]>
Alpha
Get the list of discovered component configurations.
Parameters
- queries: DiscoveryQuery[]
  
  The list of component models to discovery.
Returns Promise<Discovery[]>

Frame System

frameSystemConfig

frameSystemConfig(transform: commonApi.Transform[]): Promise<FrameSystemConfig[]>
Alpha
Get the configuration of the frame system of a given robot.
Parameters
- transform: commonApi.Transform[]
Returns Promise<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: https://pointclouds.org/documentation/tutorials/pcd_file_format.html
- 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>

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>

Status

getStatus

getStatus(resourceNames?: commonApi.ResourceName.AsObject[]): Promise<robotApi.Status[]>
Alpha
Get a list of all statuses requested. An empty request signifies all resources.
Parameters
- Optional resourceNames: commonApi.ResourceName.AsObject[]
  
  The list of resources for which to receive statuses.
Returns Promise<robotApi.Status[]>

streamStatus

streamStatus(resourceNames?: commonApi.ResourceName.AsObject[], durationMs?: number): RobotStatusStream
Alpha
Periodically receive the status of all statuses requested. An empty request signifies all resources.
Parameters
- Optional resourceNames: commonApi.ResourceName.AsObject[]
  
  The list of resources for which to receive statuses. Default is [].
- Optional durationMs: number
Returns RobotStatusStream

Resources

resourceNames

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

Returns Promise<commonApi.ResourceName.AsObject[]>

resourceRPCSubtypes

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

Returns Promise<ResourceRPCSubtype[]>

Interface Robot

Hierarchy

Implemented by

Index

Properties

Operations

Discovery

Frame System

Status

Resources

Properties

on

Type declaration

Parameters

type: "reconnected" | "disconnected"

listener: Callback

Returns void

Operations

blockForOperation

Parameters

id: string

Returns Promise<void>

cancelOperation

Parameters

id: string

Returns Promise<void>

getOperations

Returns Promise<Operation[]>

stopAll

Parameters

Optional extra: Map<string, StructType>

Returns Promise<void>

Discovery

discoverComponents

Parameters

queries: DiscoveryQuery[]

Returns Promise<Discovery[]>

Frame System

frameSystemConfig

Parameters

transform: commonApi.Transform[]

Returns Promise<FrameSystemConfig[]>

transformPCD

Parameters

pointCloudPCD: Uint8Array

source: string

destination: string

Returns Promise<Uint8Array>

transformPose

Parameters

source: commonApi.PoseInFrame

destination: string

supplementalTransforms: commonApi.Transform[]

Returns Promise<commonApi.PoseInFrame>

Status

getStatus

Parameters

Optional resourceNames: commonApi.ResourceName.AsObject[]

Returns Promise<robotApi.Status[]>

streamStatus

Parameters

Optional resourceNames: commonApi.ResourceName.AsObject[]

Optional durationMs: number

Returns RobotStatusStream

Resources

resourceNames

Returns Promise<commonApi.ResourceName.AsObject[]>

resourceRPCSubtypes

Returns Promise<ResourceRPCSubtype[]>

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`Optional` extra: Map<string, StructType>

`Optional` resourceNames: commonApi.ResourceName.AsObject[]

`Optional` resourceNames: commonApi.ResourceName.AsObject[]

`Optional` durationMs: number