We propose a grounded approach to meaning in language typology. We treat data from perceptual modalities, such as images, as a language-agnostic representation of meaning. Hence, we can quantify the function--form relationship between images and captions across languages. Inspired by information theory, we define "groundedness", an empirical measure of contextual semantic contentfulness (formulated as a difference in surprisal) which can be computed with multilingual multimodal language models. As a proof of concept, we apply this measure to the typology of word classes. Our measure captures the contentfulness asymmetry between functional (grammatical) and lexical (content) classes across languages, but contradicts the view that functional classes do not convey content. Moreover, we find universal trends in the hierarchy of groundedness (e.g., nouns > adjectives > verbs), and show that our measure partly correlates with psycholinguistic concreteness norms in English. We release a dataset of groundedness scores for 30 languages. Our results suggest that the grounded typology approach can provide quantitative evidence about semantic function in language.