import { Struct, type JsonValue, type PartialMessage } from '@bufbuild/protobuf';
import type { CallOptions } from '@connectrpc/connect';
import { DoCommandRequest, DoCommandResponse, GetKinematicsRequest, GetKinematicsResponse, GetGeometriesRequest, GetGeometriesResponse, GetStatusRequest, GetStatusResponse, Geometry, Mesh } from './gen/common/v1/common_pb';
import type { Options, Vector3 } from './types';
import type { Frame } from './gen/app/v1/robot_pb';
export declare const clientHeaders: Headers;
type doCommand = (request: PartialMessage<DoCommandRequest>, options?: CallOptions) => Promise<DoCommandResponse>;
/**
 * Send/Receive an arbitrary command using a resource client.
 *
 * @example
 *
 * ```ts
 * // Plain object (recommended)
 * const result = await doCommandFromClient(doFn, name, {
 *   myCommand: { key: 'value' },
 * });
 *
 * // Struct (still supported)
 * const result = await doCommandFromClient(
 *   doFn,
 *   name,
 *   Struct.fromJson({ myCommand: { key: 'value' } })
 * );
 * ```
 *
 * @param command - The command to execute. Accepts either a {@link Struct} or a
 *   plain object, which will be converted automatically.
 */
export declare const doCommandFromClient: (doCommander: doCommand, name: string, command: Struct | Record<string, JsonValue>, options?: Options, callOptions?: CallOptions) => Promise<JsonValue>;
export declare const enableDebugLogging: (key?: string, opts?: CallOptions) => CallOptions;
export declare const disableDebugLogging: (opts: CallOptions) => void;
export declare const addMetadata: (key: string, value: string, opts?: CallOptions) => CallOptions;
export declare const deleteMetadata: (opts: CallOptions, key: string) => void;
/** Shared type for kinematics return value */
export interface KinematicsData {
    name: string;
    kinematic_param_type: 'SVA' | 'URDF' | 'UNSPECIFIED';
    joints: {
        id: string;
        type: string;
        parent: string;
        axis: Vector3;
        max: number;
        min: number;
    }[];
    links: Frame[];
}
/** Newer kinematics return shape that includes meshes */
export interface GetKinematicsResultWithMeshes {
    kinematicsData: KinematicsData;
    meshesByUrdfFilepath: Record<string, Mesh>;
}
/** Shared type for kinematics return value (legacy or with meshes) */
export type GetKinematicsResult = KinematicsData | GetKinematicsResultWithMeshes;
type getKinematics = (request: PartialMessage<GetKinematicsRequest>, options?: CallOptions) => Promise<GetKinematicsResponse>;
/** Get kinematics information using a resource client */
export declare const getKinematicsFromClient: (getKinematicsMethod: getKinematics, name: string, extra?: Struct, callOptions?: CallOptions) => Promise<GetKinematicsResult>;
type getGeometries = (request: PartialMessage<GetGeometriesRequest>, options?: CallOptions) => Promise<GetGeometriesResponse>;
/** Get geometries information using a resource client */
export declare const getGeometriesFromClient: (getGeometriesMethod: getGeometries, name: string, extra?: Struct, callOptions?: CallOptions) => Promise<Geometry[]>;
type getStatus = (request: PartialMessage<GetStatusRequest>, options?: CallOptions) => Promise<GetStatusResponse>;
/** Get the status of a resource using a resource client */
export declare const getStatusFromClient: (getStatusMethod: getStatus, name: string, options?: Options, callOptions?: CallOptions) => Promise<JsonValue>;
export {};