Interact with Resources with Viam's Client SDKs

Every Viam resource exposes an Application Programming Interface (API) described through protocol buffers. You can think of this as a description of how you can interact with that resource. Different models of resources implement the same API, which Viam SDKs expose, allowing you to control different models of resource types with a consistent interface.

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.

Robot management APIs

Robot API

All machines support the following methods through the robot API:

Method NameDescription
Options.with_api_keyCreate RobotClient connection options with an API key as credentials.
AtAddressCreate a RobotClient that is connected to the machine at the provided address.
WithChannelCreate a RobotClient that is connected to a machine over the given channel.
RefreshManually refesh the underlying parts of the machine.
StatusGet the status of the machine’s components.
GetOperationsGet the list of operations currently running on the machine.
CancelOperationCancel the specified operation on the machine.
BlockForOperationBlocks on the specified operation on the machine.
TransformPoseTransform a given source Pose from the original reference frame to a new destination reference frame.
DiscoverComponentsGet a list of discovered component configurations.
FrameSystemConfigGet the configuration of a machine’s frame system.
StatusGet the status of each of the resources on the machine.
CloseClose the connections and stop periodic tasks across the machine.
StopAllCancel all operations for the machine and stop its movement.
ResourceNamesGet a list of all the machine’s resources.

Cloud API

The cloud API supports the following methods:

Method NameDescription
ListOrganizationsList the organizations the user owns.
GetOrganizationNamespaceAvailabilityCheck the availability of an organization namespace.
ListOrganizationMembersList the members and invites of the current organization.
UpdateOrganizationInviteAuthorizationsUpdate the authorizations attached to an organization invite that has already been created.
CreateLocationCreate and name a location.
GetLocationGet a location by its ID.
UpdateLocationChange the name of and/or assign a parent location to a location.
DeleteLocationDelete a location.
ListLocationsList locations.
LocationAuthGet a location’s authorization (location secrets).
CreateLocationSecretCreate a new location secret. Deprecated.
DeleteLocationSecretDelete a location secret. Deprecated.
GetRobotGet a machine by machine ID.
GetRobotPartsGet a list of all the parts under a specific machine.
GetRobotPartGet a machine part.
GetRobotPartLogsGet the logs associated with a machine part.
TailRobotPartLogsGet an asynchronous iterator that receives live machine part logs.
GetRobotPartHistoryGet a list containing the history of a machine part.
UpdateRobotPartUpdate the name or configuration of a machine part.
NewRobotPartCreate a new machine part.
DeleteRobotPartDelete a machine part.
MarkPartAsMainMark a part as the main part of a machine.
MarkPartForRestartMark a machine part for restart.
CreateRobotPartSecretCreate a machine part secret. Deprecated.
DeleteRobotPartSecretDelete a machine part secret. Deprecated.
ListRobotsGet a list of all machines in a location.
NewRobotCreate a new machine.
UpdateRobotChange the name of an existing machine.
DeleteRobotDelete a machine.
ListFragmentsGet a list of fragments.
GetFragmentGet a fragment by its ID.
CreateFragmentCreate a new private fragment.
UpdateFragmentUpdate a fragment name, config or visibility.
DeleteFragmentDelete a fragment.
AddRoleAdd a role (owner or operator).
RemoveRoleRemove a role (owner or operator).
ListAuthorizationsList authorizations (owners and operators).
CreateModuleCreate a module.
UpdateModuleUpdate module metadata.
UploadModuleFileUpload a module file.
GetModuleGet a module by its ID.
ListModulesList available modules.
CreateOrganizationInviteCreate an organization invite and send it by email.
DeleteOrganizationMemberRemove a member from the organization.
DeleteOrganizationInviteDelete a pending organization invite.
ResendOrganizationInviteResend a pending organization invite email.
GetRoverRentalRobotsReturn a list of rover rental robots within an org.
CheckPermissionsCheck if the entity you’re currently authenticated to is permitted to perform some action or set of actions on the resource you pass to the method.
CreateKeyCreate a new API key.
CreateKeyFromExistingKeyAuthorizationsCreate a new API key with an existing key’s authorizations.
ListKeysList all keys for an organization.

Data client API

The data client API supports the following methods to upload and retrieve data like images or sensor readings directly to the Viam app (among others):

Method NameDescription
TabularDataByFilterFilter and download tabular data.
BinaryDataByFilterFilter and download binary data.
BinaryDataByIDsDownload binary data by IDs.
DeleteTabularDataDelete tabular data older than a specified number of days.
DeleteBinaryDataByFilterFilter and delete binary data.
DeleteBinaryDataByIdsFilter and delete binary data by ids.
AddTagsToBinaryDataByIdsAdd tags to binary data by ids.
AddTagsToBinaryDataByFilterAdd tags to binary data by filter.
RemoveTagsFromBinaryDataByIdsRemove tags from binary data by ids.
RemoveTagsFromBinaryDataByFilterRemove tags from binary data by filter.
TagsByFilterGet tags from data by filter.
BoundingBoxLabelsByFilterGet a list of bounding box labels using a Filter.
GetDatabaseConnectionGet a connection to access a MongoDB Atlas Data federation instance.
BinaryDataCaptureUploadUpload binary data collected on your machine through a specific component and the relevant metadata to the Viam app.
TabularDataCaptureUploadUpload tabular data collected on your machine through a specific component and the relevant metadata to the Viam app.
StreamingDataCaptureUploadUpload the contents of streaming binary data and the relevant metadata to the Viam app.
FileUploadUpload file data stored on your machine and the relevant metadata to the Viam app.
FileUploadFromPathUpload file data stored on your machine from the specified filepath and the relevant metadata to the Viam app.
AddBoundingBoxToImageByIdAdd a bounding box to an image specified by its BinaryID.
RemoveBoundingBoxFromImageByIdRemoves a bounding box from an image specified by its BinaryID.

ML training API

The ML training API allows you to get information about and cancel ML training jobs taking place on the Viam app:

Method NameDescription
GetTrainingJobGet training job metadata by ID.
ListTrainingJobsGet training job metadata for all jobs within an organization.
CancelTrainingJobCancel the specified training job.

Component APIs

These APIs provide interfaces for controlling and getting information from various components of a machine. Built-in API methods are defined for every model of each component type. Documentation on using these methods in your SDK code is found on each component page as follows:

Arm

The arm component supports the following methods:

Method NameDescription
GetEndPositionGet the current position of the arm as a Pose.
MoveToPositionMove the end of the arm to the desired Pose.
MoveToJointPositionsMove each joint on the arm to the desired position.
GetJointPositionsGet the current position of each joint on the arm.
StopStop the arm from moving.
IsMovingGet if the arm is currently moving.
GetKinematicsGet the kinematics information associated with the arm.
GetGeometriesGet all the geometries associated with the arm in its current configuration, in the frame of the arm.
DoCommandSend or receive model-specific commands.
CloseSafely shut down the resource and prevent further use.

Base

The base component supports the following methods:

Method NameDescription
MoveStraightMove the base in a straight line across the given distance at the given velocity.
SpinMove the base to the given angle at the given angular velocity.
SetPowerSet the relative power (out of max power) for linear and angular propulsion of the base.
SetVelocitySet the linear velocity and angular velocity of the base.
IsMovingReturn whether the base is moving or not.
StopStop the base.
GetPropertiesGet the width and turning radius of the base in meters.
GetGeometriesGet all the geometries associated with the base in its current configuration, in the frame of the base.
DoCommandSend or receive model-specific commands.
CloseSafely shut down the resource and prevent further use.

Board

The board component supports the following methods:

Method NameDescription
ReadAnalogReaderGet an AnalogReader by name.
GetDigitalInterruptValueGet a DigitalInterrupt by name.
GetGPIOGet a GPIOPin by its pin number.
SetGPIOSet a GPIOPin by its pin number.
AnalogReaderNamesGet the name of every AnalogReader.
DigitalInterruptNamesGet the name of every DigitalInterrupt.
StatusGet the current status of this board.
SetPWMSet the board to the indicated power mode.
WriteAnalogWrite an analog value to a pin on the board.
GetGeometriesGet all the geometries associated with the board in its current configuration, in the frame of the board.
DoCommandSend or receive model-specific commands.
CloseSafely shut down the resource and prevent further use.

Camera

The camera component supports the following methods:

Method NameDescription
GetImageReturn an image from the camera.
GetImagesReturn multiple simultaneous images from different imagers, along with associated metadata.
GetPointCloudReturn a point cloud from the camera.
GetPropertiesReturn the camera intrinsic and camera distortion parameters, as well as whether the camera supports returning point clouds.
GetGeometriesGet all the geometries associated with the camera in its current configuration, in the frame of the camera.
DoCommandSend or receive model-specific commands.
CloseSafely shut down the resource and prevent further use.

Encoder

The encoder component supports the following methods:

Method NameDescription
GetPositionGet the current position of the encoder.
ResetPositionReset the position to zero.
GetPropertiesGet the supported properties of this encoder.
GetGeometriesGet all the geometries associated with the encoder in its current configuration, in the frame of the encoder.
DoCommandSend or receive model-specific commands.
CloseSafely shut down the resource and prevent further use.

Gantry

The gantry component supports the following methods:

Method NameDescription
GetPositionGet the current positions of the axes of the gantry in mm.
MoveToPositionMove the axes of the gantry to the desired positions.
GetLengthsGet the lengths of the axes of the gantry in mm.
StopStop the gantry from moving.
IsMovingGet if the gantry is currently moving.
GetGeometriesGet all the geometries associated with the gantry in its current configuration, in the frame of the gantry.
DoCommandSend or receive model-specific commands.
CloseSafely shut down the resource and prevent further use.

Generic

The generic component supports the following methods:

Method NameDescription
GetGeometriesGet all the geometries associated with the generic component in its current configuration, in the frame of the generic component.
DoCommandSend or receive model-specific commands.
CloseSafely shut down the resource and prevent further use.

Gripper

The gripper component supports the following methods:

Method NameDescription
OpenOpen the gripper.
GrabClose the gripper until it grabs something or closes completely.
StopStop the gripper’s movement.
IsMovingReport whether the gripper is currently moving.
GetGeometriesGet all the geometries associated with the gripper in its current configuration, in the frame of the gripper.
DoCommandSend or receive model-specific commands.
CloseSafely shut down the resource and prevent further use.

Input Controller

The input controller component supports the following methods:

Method NameDescription
GetControlsGet a list of input Controls that this Controller provides.
GetEventsGet the current state of the Controller as a map of the most recent Event for each Control.
RegisterControlCallbackDefine a callback function to execute whenever one of the EventTypes selected occurs on the given Control.
GetGeometriesGet all the geometries associated with the input controller in its current configuration, in the frame of the input controller.
TriggerEventTrigger an event on the controller.
DoCommandSend or receive model-specific commands.
CloseSafely shut down the resource and prevent further use.

Motor

The motor component supports the following methods:

Method NameDescription
SetPowerSet the power to send to the motor as a portion of max power.
GoForSpin the motor the specified number of revolutions at specified RPM.
GoToSend the motor to a specified position (in terms of revolutions from home) at a specified speed.
ResetZeroPositionSet the current position to be the new zero (home) position.
GetPositionReport the position of the motor based on its encoder. Not supported on all motors.
GetPropertiesReturn whether or not the motor supports certain optional features.
IsPoweredReturn whether or not the motor is currently on, and the amount of power to it.
IsMovingReturn whether the motor is moving or not.
StopCut power to the motor off immediately, without any gradual step down.
GetGeometriesGet all the geometries associated with the motor in its current configuration, in the frame of the motor.
DoCommandSend or receive model-specific commands.
CloseSafely shut down the resource and prevent further use.

Movement Sensor

The movement sensor component supports the following methods. Some methods are only supported by certain models:

Method NameDescriptionModels That Support This Method
GetPositionGet the current latitude, longitude and altitude.GPS models, wheeled-odometry
GetLinearVelocityGet the current linear velocity as a 3D vector.GPS models, wheeled-odometry
GetAngularVelocityGet the current angular velocity as a 3D vector.IMU models, gyro-mpu6050, and wheeled-odometry
GetLinearAccelerationGet the current linear acceleration as a 3D vector.IMU models, accel-adxl345, and gyro-mpu6050
GetCompassHeadingGet the current compass heading in degrees.GPS models
GetOrientationGet the current orientation.IMU models, wheeled-odometry
GetPropertiesGet the supported properties of this sensor.all models
GetAccuracyGet the accuracy of the various sensors.GPS models
GetReadingsObtain the measurements/data specific to this sensor.all models
GetGeometriesGet all the geometries associated with the movement sensor in its current configuration, in the frame of the movement sensor.all models
DoCommandSend or receive model-specific commands.all models
CloseSafely shut down the resource and prevent further use.all models

Power Sensor

The power sensor component supports the following methods:

Method NameDescription
GetCurrentReturn the current of a specified device and whether it is AC or DC.
GetVoltageReturn the voltage of a specified device and whether it is AC or DC.
GetPowerReturn the power consumption of a specified device in watts.
GetGeometriesGet all the geometries associated with the power sensor in its current configuration, in the frame of the power sensor.
GetReadingsGet all measurements or readings that this power sensor provides.
DoCommandExecute model-specific commands that are not otherwise defined by the component API.
CloseSafely shut down the resource and prevent further use.

Sensor

The sensor component supports the following methods:

Method NameDescription
GetReadingsGet the measurements or readings that this sensor provides.
GetGeometriesGet all the geometries associated with the sensor in its current configuration, in the frame of the sensor.
DoCommandSend or receive model-specific commands.
CloseSafely shut down the resource and prevent further use.

Servo

The servo component supports the following methods:

Method NameDescription
MoveMove the servo to the desired angle.
GetPositionGet the current angle of the servo.
StopStop the servo.
GetGeometriesGet all the geometries associated with the servo in its current configuration, in the frame of the servo.
DoCommandSend or receive model-specific commands.
CloseSafely shut down the resource and prevent further use.

Service APIs

These APIs provide interfaces for controlling and getting information from the services you configured on a machine. Built-in API methods are defined for each service implementation. Documentation on using these methods in your SDK code is found on service pages as follows:

Base Remote Control

The base remote control service supports the following methods:

Method NameDescription
CloseClose out of all remote control related systems.
ControllerInputsGet a list of inputs from the controller that is being monitored for that control mode.

Data Management

The data management service supports the following methods:

Method NameDescription
SyncSync data stored on the machine to the cloud.

Generic

The generic service supports the following methods:

Method NameDescription
DoCommandSend or receive model-specific commands.
CloseSafely shut down the resource and prevent further use.

ML Model

The ML model service supports the following methods:

Method NameDescription
InferTake an already ordered input tensor as an array, make an inference on the model, and return an output tensor map.
MetadataGet the metadata (such as name, type, expected tensor/array shape, inputs, and outputs) associated with the ML model.
DoCommandSend arbitrary commands to the resource.
CloseSafely shut down the resource and prevent further use.

Motion

The motion service supports the following methods:

Method NameDescription
MoveMove multiple components in a coordinated way to achieve a desired motion.
GetPoseGet the current location and orientation of a component as a Pose.
MoveOnMapMove a base component to a Pose in respect to the origin of a SLAM map. Use the machine’s position reported by the SLAM service to check the location of the machine.
MoveOnGlobeMove a base component to a destination GPS point. Use a Movement Sensor to measure the machine’s GPS coordinates.
StopPlanStop a base component being moved by an in progress MoveOnGlobe or MoveOnMap call.
GetPlanReturns the plan history of the most recent MoveOnGlobe or MoveOnMap call to move a base component.
ListPlanStatusesReturns the plan statuses created by MoveOnGlobe or MoveOnMap calls.
DoCommandSend arbitrary commands to the resource.
CloseSafely shut down the resource and prevent further use.

The navigation service supports the following methods:

Method NameDescription
ModeGet the mode the service is operating in.
SetModeSet the mode the service is operating in.
LocationGet the current location of the robot.
WaypointsGet the waypoints currently in the service’s data storage.
GetPropertiesGet information regarding the service.
AddWaypointAdd a waypoint to the service’s data storage.
RemoveWaypointRemove a waypoint from the service’s data storage.
PathsGet each path, the series of geo points the robot plans to travel through to get to a destination waypoint, in the robot’s motion planning.
ObstaclesGet the obstacles currently in the service’s data storage.
DoCommandExecute model-specific commands that are not otherwise defined by the service API.
CloseSafely shut down the resource and prevent further use.

SLAM

The Simultaneous Localization And Mapping (SLAM) service supports the following methods:

Method NameDescription
GetPositionGet the current position of the specified source component in the point cloud SLAM map.
GetPointCloudMapGet the point cloud SLAM map.
GetPropertiesGet information regarding the current SLAM session.
GetInternalStateGet the internal state of the SLAM algorithm required to continue mapping/localization.
DoCommandSend arbitrary commands to the resource.
CloseSafely shut down the resource and prevent further use.

Vision

Different vision service models support different methods:

Method NameDescriptionModels That Support This Method
GetDetectionsGet detections from an image.detectors
GetDetectionsFromCameraGet detections from the next image from a camera.detectors
GetClassificationsGet classifications from an image.classifiers
GetClassificationsFromCameraGet classifications from the next image from a camera.classifiers
GetObjectPointCloudsGet a list of point cloud objects from a 3D camera.segmenters
DoCommandSend arbitrary commands to the resource.
CloseSafely shut down the resource and prevent further use.

Signaling APIs

GPIO pins

In addition to the board API, the board component supports the following methods for interfacing with GPIO pins on a board:

Method NameDescription
SetGPIOSet the output of this pin to high/low.
GetGPIOGet if this pin is active (high).
GetPWMGet the pin’s pulse-width modulation duty cycle.
SetPWMSet the pin’s pulse-width modulation duty cycle.
PWMFreqGet the pulse-width modulation frequency of this pin.
SetPWMFreqSet the pulse-width modulation frequency of this pin.
CloseSafely shut down the resource and prevent further use.

Analog-to-digital converters (ADCs)

In addition to the board API, the board component supports the following methods for interfacing with ADCs on a board:

Method NameDescription
ReadRead the current integer value of the digital signal output by the ADC.
CloseSafely shut down the resource and prevent further use.

Digital interrupts

In addition to the board API, the board component supports the following methods for interfacing with digital interrupts on a board:

Method NameDescription
ValueGet the current value of this interrupt.
TickRecord an interrupt.
AddCallbackAdd a channel as a callback for Tick().
AddPostProcessorAdd a PostProcessor function for Value().
CloseSafely shut down the resource and prevent further use.

ResourceBase methods

In the Python SDK, the ResourceBase class defines a basic set of API methods that all child resources should provide for users. In the other SDKs, resource APIs implement but do not inherit these base requirements.

ResourceBase methods include:

FromRobot

Get a resource configured on a machine by "name".

Parameters:

Returns:

  • (Resource): The named resource if it exists on your machine. For example, an arm.
my_arm = Arm.from_robot(robot, "my_arm")

For more information, see the Python SDK Docs.

Parameters:

Returns:

  • (Resource): The named resource if it exists on your machine. For example, an arm.
my_arm = arm.FromRobot(robot, "my_arm")

For more information, see the Go SDK Docs.

In the TypeScript SDK, the equivalent of the FromRobot is defined in each resource API’s client constructor.

For example, a component with type arm and name my_arm belonging to a machine robot is instantiated as follows:

Parameters:

Returns:

const myArmClient = new VIAM.ArmClient(robot, "my_arm");

For more information, see the Typescript SDK Docs.

Name

Get the ResourceName of a resource with the configured name.

Parameters:

  • name (str): The name of the resource.

Returns:

my_arm_name = my_arm.get_resource_name("my_arm")

For more information, see the Python SDK Docs.

Get the Name of the resource.

Parameters:

  • None

Returns:

  • name (Name): The Name of the resource, including fields for the API with Type and SubtypeName, and string Remote and Name.
MyArmName := MyArm.Name()

For more information, see the Go SDK Docs.

DoCommand

DoCommand sends commands containing arbitrary data to the resource.

Parameters:

Returns:

For more information, see the Python SDK Docs.

Parameters:

Returns:

For more information, see the Go SDK Docs.

Parameters:

Returns:

For more information, see the Typescript SDK Docs.