Viam's Client APIs

Every Viam resource exposes an application programming interface (API) described through protocol buffers.

The API methods provided by the SDKs for each of these resource APIs wrap gRPC client requests to the machine when you execute your program, providing you a convenient interface for accessing information about and controlling the resources you have configured on your machine.

Platform APIs

Fleet Management API
Create and manage organizations, locations, and machines, get logs from individual machines, and manage fragments and permissions.
Data Client API
Upload, download, filter, tag or perform other tasks on data like images or sensor readings.
Machine Management API
Manage your machines: connect to your machine, retrieve status information, and send commands remotely.
ML Training Client API
Submit and manage ML training jobs running on the Viam app.
Billing Client API
Retrieve billing information from the Viam app.

Component APIs

These APIs provide interfaces for controlling and getting information from the components of a machine:

Arm API

Give commands to your arm components for linear motion planning, including self-collision prevention and obstacle avoidance.

Base API

Give commands for moving all configured components attached to a mobile platform as a whole without needing to send commands to individual components.

Board API

Give commands for setting GPIO pins to high or low, setting PWM, and working with analog and digital interrupts.

Camera API

Give commands for getting images or point clouds.

Encoder API

Give commands for getting the position of a motor or a joint in ticks or degrees.

Gantry API

Give commands for coordinated control of one or more linear actuators.

Generic API

Give commands for running custom model-specific commands using DoCommand on your generic components.

Gripper API

Give commands for opening and closing a gripper device.

Input controller API

Give commands to register callbacks for events, allowing you to use input devices to control your machines.

Motor API

Give commands to operate a motor or get its current status.

Movement sensor API

Give commands for getting the current GPS location, linear velocity and acceleration, angular velocity and acceleration and heading.

Power sensor API

Commands for getting measurements of voltage, current, and power consumption.

Sensor API

Commands for getting sensor readings.

Servo API

Commands for controlling the angular position of a servo precisely or getting its current status.

Service APIs

These APIs provide interfaces for controlling and getting information from the services you configured on a machine.

Data management service API

Give commands to your data management service to sync data stored on the machine it is deployed on to the cloud.

Vision service API

Give commands to get detections, classifications, or point cloud objects, depending on the ML model the vision service is using.

ML model service API

Give commands to your ML model service to make inferences based on a provided ML model.

Motion service API

Give commands to move a machine based on a SLAM map or GPS coordinates or to move a machine's components form one location to another.

Navigation service API

Give commands to define waypoints and move your machine along those waypoints while avoiding obstacles.

Generic service API

Give commands to your generic components for running model-specific commands using DoCommand.

SLAM service API

Give commands to get a machine's position within a map.

Base Remote Control service API

Give commands to get a list of inputs from the controller that are being monitored for that control mode.