# Viam's Client APIs Access and control your machine or fleet with the SDKs' client libraries for the resource and robot APIs. > Source: https://docs.viam.com/reference/apis/ Every Viam [resource](/reference/glossary/#term-resource) exposes an [application programming interface (API)](https://en.wikipedia.org/wiki/API) described through [protocol buffers](https://developers.google.com/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](/reference/glossary/#term-resource) you have [configured](/hardware/configure-hardware/) on your machine. ## Platform APIs
**[Fleet Management API](/reference/apis/fleet/)** Create and manage organizations, locations, and machines, get logs from individual machines, and manage fragments and permissions. **[Data Client API](/reference/apis/data-client/)** Upload, download, filter, tag or perform other tasks on data like images or sensor readings. **[Machine Management API](/reference/apis/robot/)** Manage your machines: connect to your machine, retrieve status information, and send commands remotely. **[ML Training Client API](/reference/apis/ml-training-client/)** Submit and manage ML training jobs running on Viam. **[Billing Client API](/reference/apis/billing-client/)** Retrieve billing information from Viam. **[Session Management API](/reference/apis/sessions/)** Manage sessions, heartbeats, and safety timeouts for connected clients.
## Component APIs These APIs provide interfaces for controlling and getting information from the [components](/reference/glossary/#term-component) of a machine:
**[Component APIs overview](/reference/apis/components/overview/)** See every component API and its methods at a glance in one compact grid.
Arm API

Give commands to your arm components for linear motion planning.

Audio in API

Give commands to your audio in components.

Audio out API

Give commands to your audio out components.

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.

Button API

Give commands for getting presses from a physical button.

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

Give commands for getting sensor readings.

Servo API

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

Switch API

Give commands for getting the state of a physical switch that has two or more discrete positions.

## Service APIs These APIs provide interfaces for controlling and getting information from the services you configured on a machine.
**[Service APIs overview](/reference/apis/services/overview/)** See every service API and its methods at a glance in one compact grid.
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's components from one location or pose to another.

Generic service API

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

Base Remote Control service API

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

Discovery service API

Reveal which resources are available to configure on a machine based on the hardware that is physically present.

World state store service API

List, get, and stream the transforms a world state store service publishes for the 3D scene to draw.