# 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. > Source: https://docs.viam.com/reference/apis/components/base/ The base API allows you to give commands to your [base components](/reference/components/base/) for moving all configured components attached to a platform as a whole without needing to send commands to individual components. The base component supports the following methods: | Method Name | Description | `viam-micro-server` Support | | ----------- | ----------- | --------------------------- | | [`MoveStraight`](/reference/apis/components/base/#movestraight) | Move the base in a straight line across the given distance (mm) at the given velocity (mm/sec). | | | [`Spin`](/reference/apis/components/base/#spin) | Turn the base in place, rotating it to the given angle (degrees) at the given angular velocity (degrees/sec). | | | [`SetPower`](/reference/apis/components/base/#setpower) | Set the linear and angular power of the base, represented as a percentage of max power for each direction in the range of [-1.0 to 1.0]. |

| | [`SetVelocity`](/reference/apis/components/base/#setvelocity) | Set the linear velocity (mm/sec) and angular velocity (degrees/sec) of the base. | | | [`GetProperties`](/reference/apis/components/base/#getproperties) | Get the width and turning radius of the {{< glossary_tooltip term_id="model" text="model" >}} of base in meters. | | | [`IsMoving`](/reference/apis/components/base/#ismoving) | Returns whether the base is actively moving (or attempting to move) under its own power. | | | [`Stop`](/reference/apis/components/base/#stop) | Stop the base from moving immediately. |

| | [`GetGeometries`](/reference/apis/components/base/#getgeometries) | Get all the geometries associated with the base in its current configuration, in the frame of the base. | | | [`Reconfigure`](/reference/apis/components/base/#reconfigure) | Reconfigure this resource. | | | [`DoCommand`](/reference/apis/components/base/#docommand) | Execute model-specific commands that are not otherwise defined by the component API. |

| | [`GetStatus`](/reference/apis/components/base/#getstatus) | Get the current status of the base as a map of key-value pairs describing its state. | | | [`GetResourceName`](/reference/apis/components/base/#getresourcename) | Get the `ResourceName` for this base. | | | [`Close`](/reference/apis/components/base/#close) | Safely shut down the resource and prevent further use. | | ## API ### MoveStraight Move the base in a straight line across the given distance (mm) at the given velocity (mm/sec). {{< tabs >}} {{% tab name="Python" %}} **Parameters:** - `distance` ([int](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (required): The distance (in millimeters) to move. Negative implies backwards. - `velocity` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (required): The velocity (in millimeters per second) to move. Negative implies backwards. - `extra` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call. - `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. **Returns:** - None. **Example:** ```python {class="line-numbers linkable-line-numbers"} my_base = Base.from_robot(robot=machine, name="my_base") # Move the base 40 mm at a velocity of 90 mm/s, forward. await my_base.move_straight(distance=40, velocity=90) # Move the base 40 mm at a velocity of -90 mm/s, backward. await my_base.move_straight(distance=40, velocity=-90) ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/base/client/index.html#viam.components.base.client.BaseClient.move_straight). {{% /tab %}} {{% tab name="Go" %}} **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. - `distanceMm` [(int)](https://pkg.go.dev/builtin#int): The distance to move the base in millimeters. Positive implies forwards. Negative implies backwards. - `mmPerSec` [(float64)](https://pkg.go.dev/builtin#float64): The velocity at which to move the base in millimeters per second. Positive implies forwards. Negative implies backwards. - `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call. **Returns:** - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. **Example:** ```go {class="line-numbers linkable-line-numbers"} myBase, err := base.FromProvider(machine, "my_base") // Move the base forward 40 mm at a velocity of 90 mm/s. myBase.MoveStraight(context.Background(), 40, 90, nil) // Move the base backward 40 mm at a velocity of -90 mm/s. myBase.MoveStraight(context.Background(), 40, -90, nil) ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/base#Base). {{% /tab %}} {{% tab name="TypeScript" %}} **Parameters:** - `distanceMm` (number) (required): Distance to move, in millimeters. - `mmPerSec` (number) (required): Movement speed, in millimeters per second. - `extra` (None) (optional) - `callOptions` (CallOptions) (optional) **Returns:** - (Promise) **Example:** ```ts {class="line-numbers linkable-line-numbers"} const base = new VIAM.BaseClient(machine, 'my_base'); // Move forward 40mm at 90mm/s await base.moveStraight(40, 90); // Move backward 40mm at -90mm/s (backwards) await base.moveStraight(40, -90); ``` For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/BaseClient.html#movestraight). {{% /tab %}} {{% tab name="Flutter" %}} **Parameters:** - `distance` [int](https://api.flutter.dev/flutter/dart-core/int-class.html) (required) - `velocity` [double](https://api.flutter.dev/flutter/dart-core/double-class.html) (required) - `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional) **Returns:** - [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html) **Example:** ```dart {class="line-numbers linkable-line-numbers"} // Move the base 40mm forward at 90 mm/s await myBase.moveStraight(40, 90); ``` For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Base/moveStraight.html). {{% /tab %}} {{< /tabs >}} ### Spin Turn the base in place, rotating it to the given angle (degrees) at the given angular velocity (degrees/sec). {{< tabs >}} {{% tab name="Python" %}} **Parameters:** - `angle` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (required): The angle (in degrees) to spin. - `velocity` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (required): The angular velocity (in degrees per second) to spin. Given a positive angle and a positive velocity, the base will turn to the left. - `extra` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call. - `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. **Returns:** - None. **Example:** ```python {class="line-numbers linkable-line-numbers"} my_base = Base.from_robot(robot=machine, name="my_base") # Spin the base 10 degrees at an angular velocity of 15 deg/sec. await my_base.spin(angle=10, velocity=15) ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/base/client/index.html#viam.components.base.client.BaseClient.spin). {{% /tab %}} {{% tab name="Go" %}} **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. - `angleDeg` [(float64)](https://pkg.go.dev/builtin#float64): The angle to spin in degrees. Positive implies turning to the left. - `degsPerSec` [(float64)](https://pkg.go.dev/builtin#float64): The angular velocity at which to spin in degrees per second. Given a positive angle and a positive velocity, the base turns to the left (for built-in base models). - `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call. **Returns:** - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. **Example:** ```go {class="line-numbers linkable-line-numbers"} myBase, err := base.FromProvider(machine, "my_base") // Spin the base 10 degrees at an angular velocity of 15 deg/sec. myBase.Spin(context.Background(), 10, 15, nil) ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/base#Base). {{% /tab %}} {{% tab name="TypeScript" %}} **Parameters:** - `angleDeg` (number) (required): Degrees to spin. - `degsPerSec` (number) (required): Angular speed, in degrees per second. - `extra` (None) (optional) - `callOptions` (CallOptions) (optional) **Returns:** - (Promise) **Example:** ```ts {class="line-numbers linkable-line-numbers"} const base = new VIAM.BaseClient(machine, 'my_base'); // Spin 10 degrees clockwise at 15 degrees per second await base.spin(10, 15); // Spin 180 degrees counter-clockwise at 20 degrees per second await base.spin(-180, 20); ``` For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/BaseClient.html#spin). {{% /tab %}} {{% tab name="Flutter" %}} **Parameters:** - `angle` [double](https://api.flutter.dev/flutter/dart-core/double-class.html) (required) - `velocity` [double](https://api.flutter.dev/flutter/dart-core/double-class.html) (required) - `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional) **Returns:** - [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html) **Example:** ```dart {class="line-numbers linkable-line-numbers"} // Spin the base 10 degrees at 15 deg/s await myBase.spin(10, 15); ``` For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Base/spin.html). {{% /tab %}} {{< /tabs >}} ### SetPower Set the linear and angular power of the base, represented as a percentage of max power for each direction in the range of [-1.0 to 1.0]. Supported by `viam-micro-server`. {{< tabs >}} {{% tab name="Python" %}} **Parameters:** - `linear` ([viam.components.base.Vector3](https://python.viam.dev/autoapi/viam/components/base/index.html#viam.components.base.Vector3)) (required): The linear component. Only the Y component is used for wheeled base. Positive implies forwards. - `angular` ([viam.components.base.Vector3](https://python.viam.dev/autoapi/viam/components/base/index.html#viam.components.base.Vector3)) (required): The angular component. Only the Z component is used for wheeled base. Positive turns left; negative turns right. - `extra` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call. - `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. **Returns:** - None. **Example:** ```python {class="line-numbers linkable-line-numbers"} my_base = Base.from_robot(robot=machine, name="my_base") # Make your wheeled base move forward. Set linear power to 75%. print("move forward") await my_base.set_power( linear=Vector3(x=0, y=.75, z=0), angular=Vector3(x=0, y=0, z=0)) # Make your wheeled base move backward. Set linear power to -100%. print("move backward") await my_base.set_power( linear=Vector3(x=0, y=-1.0, z=0), angular=Vector3(x=0, y=0, z=0)) # Make your wheeled base spin left. Set angular power to 100%. print("spin left") await my_base.set_power( linear=Vector3(x=0, y=0, z=0), angular=Vector3(x=0, y=0, z=1)) # Make your wheeled base spin right. Set angular power to -75%. print("spin right") await my_base.set_power( linear=Vector3(x=0, y=0, z=0), angular=Vector3(x=0, y=0, z=-.75)) ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/base/client/index.html#viam.components.base.client.BaseClient.set_power). {{% /tab %}} {{% tab name="Go" %}} **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. - `linear` [(r3.Vector)](https://pkg.go.dev/github.com/golang/geo/r3#Vector): The percentage of max power of the base's linear propulsion. In the range of -1.0 to 1.0, with 1.0 meaning 100% power. Viam's coordinate system considers +Y to be the forward axis (+/- X right/left, +/- Z up/down), so use the Y component of this vector to move forward and backward when controlling a wheeled base. Positive "Y" values imply moving forwards. Negative "Y" values imply moving backwards. - `angular` [(r3.Vector)](https://pkg.go.dev/github.com/golang/geo/r3#Vector): The percentage of max power of the base's angular propulsion. In the range of -1.0 to 1.0, with 1.0 meaning 100% power. Use the Z component of this vector to spin left or right when controlling a wheeled base. Positive "Z" values imply spinning to the left (for built-in base models). - `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call. **Returns:** - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. **Example:** ```go {class="line-numbers linkable-line-numbers"} myBase, err := base.FromProvider(machine, "my_base") // Make your wheeled base move forward. Set linear power to 75%. logger.Info("move forward") err = myBase.SetPower(context.Background(), r3.Vector{Y: .75}, r3.Vector{}, nil) // Make your wheeled base move backward. Set linear power to -100%. logger.Info("move backward") err = myBase.SetPower(context.Background(), r3.Vector{Y: -1}, r3.Vector{}, nil) // Make your wheeled base spin left. Set angular power to 100%. logger.Info("spin left") err = myBase.SetPower(context.Background(), r3.Vector{}, r3.Vector{Z: 1}, nil) // Make your wheeled base spin right. Set angular power to -75%. logger.Info("spin right") err = myBase.SetPower(context.Background(), r3.Vector{}, r3.Vector{Z: -.75}, nil) ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/base#Base). {{% /tab %}} {{% tab name="TypeScript" %}} **Parameters:** - `linear` ([Vector3](https://ts.viam.dev/types/Vector3.html)) (required): Desired linear power percentage from -1 to 1. - `angular` ([Vector3](https://ts.viam.dev/types/Vector3.html)) (required): Desired angular power percentage from -1 to 1. - `extra` (None) (optional) - `callOptions` (CallOptions) (optional) **Returns:** - (Promise) **Example:** ```ts {class="line-numbers linkable-line-numbers"} const base = new VIAM.BaseClient(machine, 'my_base'); // Move forward at 75% power await base.setPower( { x: 0, y: 0.75, z: 0 }, // linear power { x: 0, y: 0, z: 0 }, // no rotation ); // Move straight back at 100% power await base.setPower( { x: 0, y: -1, z: 0 }, // linear power { x: 0, y: 0, z: 0 }, // no rotation ); // Turn counter-clockwise at 50% power await base.setPower( { x: 0, y: 0, z: 0 }, // no linear movement { x: 0, y: 0, z: 0.5 }, // rotate around z-axis ); // Turn clockwise at 60% power await base.setPower( { x: 0, y: 0, z: 0 }, // no linear movement { x: 0, y: 0, z: -0.6 }, // rotate around z-axis ); ``` For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/BaseClient.html#setpower). {{% /tab %}} {{% tab name="Flutter" %}} **Parameters:** - `linear` [Vector3](https://flutter.viam.dev/viam_sdk/Vector3-class.html) (required) - `angular` [Vector3](https://flutter.viam.dev/viam_sdk/Vector3-class.html) (required) - `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional) **Returns:** - [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html) **Example:** ```dart {class="line-numbers linkable-line-numbers"} // Move the base straight forward at 75% power: await myBase.setPower(Vector3(0, 0.75, 0), Vector3()); // Move the base straight backward at 100% power: await myBase.setPower(Vector3(0, -1, 0), Vector3()); // Turn the base to the left at 50% power: await myBase.setPower(Vector3(), Vector3(0, 0, 0.5)); // Turn the base to the right at 60% power: await myBase.setPower(Vector3(), Vector3(0, 0, -0.6)); ``` For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Base/setPower.html). {{% /tab %}} {{< /tabs >}} ### SetVelocity Set the linear velocity (mm/sec) and angular velocity (degrees/sec) of the base. {{< tabs >}} {{% tab name="Python" %}} **Parameters:** - `linear` ([viam.components.base.Vector3](https://python.viam.dev/autoapi/viam/components/base/index.html#viam.components.base.Vector3)) (required): Velocity in mm/sec. - `angular` ([viam.components.base.Vector3](https://python.viam.dev/autoapi/viam/components/base/index.html#viam.components.base.Vector3)) (required): Velocity in deg/sec. - `extra` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call. - `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. **Returns:** - None. **Example:** ```python {class="line-numbers linkable-line-numbers"} my_base = Base.from_robot(robot=machine, name="my_base") # Set the linear velocity to 50 mm/sec and the angular velocity to # 15 degree/sec. await my_base.set_velocity( linear=Vector3(x=0, y=50, z=0), angular=Vector3(x=0, y=0, z=15)) ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/base/client/index.html#viam.components.base.client.BaseClient.set_velocity). {{% /tab %}} {{% tab name="Go" %}} **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. - `linear` [(r3.Vector)](https://pkg.go.dev/github.com/golang/geo/r3#Vector): The linear velocity in millimeters per second. Only the Y component of the vector is used for a wheeled base. - `angular` [(r3.Vector)](https://pkg.go.dev/github.com/golang/geo/r3#Vector): The angular velocity in degrees per second. Only the Z component of the vector is used for a wheeled base. - `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call. **Returns:** - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. **Example:** ```go {class="line-numbers linkable-line-numbers"} myBase, err := base.FromProvider(machine, "my_base") // Set the linear velocity to 50 mm/sec and the angular velocity to 15 deg/sec. myBase.SetVelocity(context.Background(), r3.Vector{Y: 50}, r3.Vector{Z: 15}, nil) ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/base#Base). {{% /tab %}} {{% tab name="TypeScript" %}} **Parameters:** - `linear` ([Vector3](https://ts.viam.dev/types/Vector3.html)) (required): Desired linear velocity in millimeters per second. - `angular` ([Vector3](https://ts.viam.dev/types/Vector3.html)) (required): Desired angular velocity in degrees per second. - `extra` (None) (optional) - `callOptions` (CallOptions) (optional) **Returns:** - (Promise) **Example:** ```ts {class="line-numbers linkable-line-numbers"} const base = new VIAM.BaseClient(machine, 'my_base'); // Move forward at 50mm/s while spinning 15 degrees per second to the left await base.setVelocity( { x: 0, y: 50, z: 0 }, // linear velocity in mm/s { x: 0, y: 0, z: 15 }, // 15 degrees per second counter-clockwise ); ``` For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/BaseClient.html#setvelocity). {{% /tab %}} {{% tab name="Flutter" %}} **Parameters:** - `linear` [Vector3](https://flutter.viam.dev/viam_sdk/Vector3-class.html) (required) - `angular` [Vector3](https://flutter.viam.dev/viam_sdk/Vector3-class.html) (required) - `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional) **Returns:** - [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html) **Example:** ```dart {class="line-numbers linkable-line-numbers"} // Set the linear velocity to 50mm/s forward, and the angular velocity to 15 deg/s counterclockwise // await myBase.setVelocity(Vector3(0, 50, 0), Vector3(0, 0, 15)); ``` For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Base/setVelocity.html). {{% /tab %}} {{< /tabs >}} ### GetProperties Get the width and turning radius of the {{< glossary_tooltip term_id="model" text="model" >}} of base in meters. {{< tabs >}} {{% tab name="Python" %}} **Parameters:** - `extra` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call. - `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. **Returns:** - ([viam.components.base.Base.Properties](https://python.viam.dev/autoapi/viam/components/base/index.html#viam.components.base.Base.Properties)): : The properties of the base. **Example:** ```python {class="line-numbers linkable-line-numbers"} my_base = Base.from_robot(robot=machine, name="my_base") # Get the width and turning radius of the base properties = await my_base.get_properties() # Get the width print(f"Width of base: {properties.width_meters}") # Get the turning radius print(f"Turning radius of base: {properties.turning_radius_meters}") # Get the wheel circumference print(f"Wheel circumference of base: {properties.wheel_circumference_meters}") ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/base/client/index.html#viam.components.base.client.BaseClient.get_properties). {{% /tab %}} {{% tab name="Go" %}} **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. - `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call. **Returns:** - [(Properties)](https://pkg.go.dev/go.viam.com/rdk/components/base#Properties): A structure with three fields, `WidthMeters`, `TurningRadiusMeters`, and `WheelCircumferenceMeters` representing the width, turning radius, and wheel circumference of the physical base in meters _(m)_. - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. **Example:** ```go {class="line-numbers linkable-line-numbers"} myBase, err := base.FromProvider(machine, "my_base") // Get the width and turning radius of the base properties, err := myBase.Properties(context.Background(), nil) // Get the width myBaseWidth := properties.WidthMeters // Get the turning radius myBaseTurningRadius := properties.TurningRadiusMeters // Get the wheel circumference myBaseWheelCircumference := properties.WheelCircumferenceMeters ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/base#Base). {{% /tab %}} {{% tab name="TypeScript" %}} **Parameters:** - `extra` (None) (optional) - `callOptions` (CallOptions) (optional) **Returns:** - (Promise<[baseApi](https://ts.viam.dev/modules/baseApi.html).[GetPropertiesResponse](https://ts.viam.dev/classes/baseApi.GetPropertiesResponse.html)>) **Example:** ```ts {class="line-numbers linkable-line-numbers"} const base = new VIAM.BaseClient(machine, 'my_base'); const properties = await base.getProperties(); ``` For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/BaseClient.html#getproperties). {{% /tab %}} {{% tab name="Flutter" %}} **Parameters:** - `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional) **Returns:** - [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)<[BaseProperties](https://flutter.viam.dev/viam_sdk/BaseProperties.html)> **Example:** ```dart {class="line-numbers linkable-line-numbers"} final myBaseResourceName = myBase.getResourceName("my_base"); ``` For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Base/properties.html). {{% /tab %}} {{< /tabs >}} ### IsMoving Returns whether the base is actively moving (or attempting to move) under its own power. {{< tabs >}} {{% tab name="Python" %}} **Parameters:** - `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. **Returns:** - ([bool](https://docs.python.org/3/library/stdtypes.html#boolean-type-bool)): : Whether the base is moving. **Example:** ```python {class="line-numbers linkable-line-numbers"} my_base = Base.from_robot(robot=machine, name="my_base") # Check whether the base is currently moving. moving = await my_base.is_moving() print('Moving: ', moving) ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/base/client/index.html#viam.components.base.client.BaseClient.is_moving). {{% /tab %}} {{% tab name="Go" %}} **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. **Returns:** - [(bool)](https://pkg.go.dev/builtin#bool): Whether this resource is moving (`true`) or not (`false`). - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. **Example:** ```go {class="line-numbers linkable-line-numbers"} // This example shows using IsMoving with an arm component. myArm, err := arm.FromProvider(machine, "my_arm") // Stop all motion of the arm. It is assumed that the arm stops immediately. myArm.Stop(context.Background(), nil) // Log if the arm is currently moving. is_moving, err := myArm.IsMoving(context.Background()) logger.Info(is_moving) ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Actuator). {{% /tab %}} {{% tab name="TypeScript" %}} **Parameters:** - `callOptions` (CallOptions) (optional) **Returns:** - (Promise) **Example:** ```ts {class="line-numbers linkable-line-numbers"} const base = new VIAM.BaseClient(machine, 'my_base'); const moving = await base.isMoving(); ``` For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/BaseClient.html#ismoving). {{% /tab %}} {{% tab name="Flutter" %}} **Parameters:** - None. **Returns:** - [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)<[bool](https://api.flutter.dev/flutter/dart-core/bool-class.html)> **Example:** ```dart {class="line-numbers linkable-line-numbers"} bool baseIsMoving = await myBase.isMoving(); ``` For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Base/isMoving.html). {{% /tab %}} {{< /tabs >}} ### Stop Stop the base from moving immediately. Supported by `viam-micro-server`. {{< tabs >}} {{% tab name="Python" %}} **Parameters:** - `extra` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call. - `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. **Returns:** - None. **Example:** ```python {class="line-numbers linkable-line-numbers"} my_base = Base.from_robot(robot=machine, name="my_base") # Move the base forward 10 mm at a velocity of 50 mm/s. await my_base.move_straight(distance=10, velocity=50) # Stop the base. await my_base.stop() ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/base/client/index.html#viam.components.base.client.BaseClient.stop). {{% /tab %}} {{% tab name="Go" %}} **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. - `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call. **Returns:** - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. **Example:** ```go {class="line-numbers linkable-line-numbers"} // This example shows using Stop with an arm component. myArm, err := arm.FromProvider(machine, "my_arm") // Stop all motion of the arm. It is assumed that the arm stops immediately. err = myArm.Stop(context.Background(), nil) ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Actuator). {{% /tab %}} {{% tab name="TypeScript" %}} **Parameters:** - `extra` (None) (optional) - `callOptions` (CallOptions) (optional) **Returns:** - (Promise) **Example:** ```ts {class="line-numbers linkable-line-numbers"} const base = new VIAM.BaseClient(machine, 'my_base'); await base.stop(); ``` For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/BaseClient.html#stop). {{% /tab %}} {{% tab name="Flutter" %}} **Parameters:** - `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional) **Returns:** - [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html) **Example:** ```dart {class="line-numbers linkable-line-numbers"} await myBase.stop(); ``` For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Base/stop.html). {{% /tab %}} {{< /tabs >}} ### GetGeometries Get all the geometries associated with the base in its current configuration, in the [frame](/reference/services/frame-system/) of the base. The [motion](/reference/services/motion/) and [navigation](/reference/services/navigation/) services use the relative position of inherent geometries to configured geometries representing obstacles for collision detection and obstacle avoidance while motion planning. {{< tabs >}} {{% tab name="Python" %}} **Parameters:** - `extra` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call. - `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. **Returns:** - ([List[viam.proto.common.Geometry]](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.Geometry)): : The geometries associated with the Component. **Example:** ```python {class="line-numbers linkable-line-numbers"} my_base = Base.from_robot(robot=machine, name="my_base") geometries = await my_base.get_geometries() if geometries: # Get the center of the first geometry print(f"Pose of the first geometry's centerpoint: {geometries[0].center}") ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/base/client/index.html#viam.components.base.client.BaseClient.get_geometries). {{% /tab %}} {{% tab name="Go" %}} **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. - `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call. **Returns:** - [([]spatialmath.Geometry)](https://pkg.go.dev/go.viam.com/rdk/spatialmath#Geometry): The geometries associated with this resource, in any order. - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. **Example:** ```go {class="line-numbers linkable-line-numbers"} // This example shows using Geometries with an base component. myBase, err := base.FromProvider(machine, "my_base") geometries, err := myBase.Geometries(context.Background(), nil) if len(geometries) > 0 { // Get the center of the first geometry elem := geometries[0] fmt.Println("Pose of the first geometry's center point:", elem.Pose()) } ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Shaped). {{% /tab %}} {{% tab name="TypeScript" %}} **Parameters:** - `extra` (None) (optional) - `callOptions` (CallOptions) (optional) **Returns:** - (Promise<[commonApi](https://ts.viam.dev/modules/commonApi.html).[Geometry](https://ts.viam.dev/classes/commonApi.Geometry.html)[]>) **Example:** ```ts {class="line-numbers linkable-line-numbers"} const base = new VIAM.BaseClient(machine, 'my_base'); const geometries = await base.getGeometries(); ``` For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/BaseClient.html#getgeometries). {{% /tab %}} {{< /tabs >}} ### Reconfigure Reconfigure this resource. Reconfigure must reconfigure the resource atomically and in place. {{< tabs >}} {{% tab name="Go" %}} **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. - `deps` [(Dependencies)](https://pkg.go.dev/go.viam.com/rdk/resource#Dependencies): The resource dependencies. - `conf` [(Config)](https://pkg.go.dev/go.viam.com/rdk/resource#Config): The resource configuration. **Returns:** - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource). {{% /tab %}} {{< /tabs >}} ### DoCommand Execute model-specific commands that are not otherwise defined by the component API. Most models do not implement `DoCommand`. Any available model-specific commands should be covered in the model's documentation. If you are implementing your own base and want to add features that have no corresponding built-in API method, you can implement them with [`DoCommand`](/reference/sdks/docommand/). Supported by `viam-micro-server`. {{< tabs >}} {{% tab name="Python" %}} **Parameters:** - `command` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), ValueTypes]) (required): The command to execute. - `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. **Returns:** - (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), viam.utils.ValueTypes]): : Result of the executed command. **Raises:** - (NotImplementedError): Raised if the Resource does not support arbitrary commands. **Example:** ```python {class="line-numbers linkable-line-numbers"} my_base = Base.from_robot(robot=machine, name="my_base") command = {"cmd": "test", "data1": 500} result = await my_base.do_command(command) ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/base/client/index.html#viam.components.base.client.BaseClient.do_command). {{% /tab %}} {{% tab name="Go" %}} **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. - `cmd` [(map[string]interface{})](https://go.dev/blog/maps): The command to execute. **Returns:** - [(map[string]interface{})](https://pkg.go.dev/builtin#string): The command response. - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. **Example:** ```go {class="line-numbers linkable-line-numbers"} myBase, err := base.FromProvider(machine, "my_base") command := map[string]interface{}{"cmd": "test", "data1": 500} result, err := myBase.DoCommand(context.Background(), command) ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource). {{% /tab %}} {{% tab name="TypeScript" %}} **Parameters:** - `command` ([Struct](https://ts.viam.dev/classes/Struct.html)) (required): The command to execute. Accepts either a [Struct](https://ts.viam.dev/classes/Struct.html) or a plain object, which will be converted automatically. - `callOptions` (CallOptions) (optional) **Returns:** - (Promise<[JsonValue](https://ts.viam.dev/types/JsonValue.html)>) **Example:** ```ts {class="line-numbers linkable-line-numbers"} // Plain object (recommended) const result = await resource.doCommand({ myCommand: { key: 'value' }, }); // Struct (still supported) import { Struct } from '@viamrobotics/sdk'; const result = await resource.doCommand(Struct.fromJson({ myCommand: { key: 'value' } })); ``` For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/BaseClient.html#docommand). {{% /tab %}} {{% tab name="Flutter" %}} **Parameters:** - `command` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic> (required) **Returns:** - [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)<[Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>\> **Example:** ```dart {class="line-numbers linkable-line-numbers"} // Example using doCommand with an arm component const command = {'cmd': 'test', 'data1': 500}; var result = myArm.doCommand(command); ``` For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Resource/doCommand.html). {{% /tab %}} {{< /tabs >}} ### GetStatus Get the current status of the base as a map of key-value pairs describing its state. {{< tabs >}} {{% tab name="Python" %}} **Parameters:** - `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. **Returns:** - (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), viam.utils.ValueTypes]): : The status of the component. **Example:** ```python {class="line-numbers linkable-line-numbers"} status = await component.get_status() ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/base/client/index.html#viam.components.base.client.BaseClient.get_status). {{% /tab %}} {{% tab name="Go" %}} **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. **Returns:** - [(map[string]interface{})](https://pkg.go.dev/builtin#string) - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. **Example:** ```go {class="line-numbers linkable-line-numbers"} myBase, err := base.FromProvider(machine, "my_base") status, err := myBase.Status(context.Background()) ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource). {{% /tab %}} {{% tab name="TypeScript" %}} **Parameters:** - `callOptions` (CallOptions) (optional) **Returns:** - (Promise<[JsonValue](https://ts.viam.dev/types/JsonValue.html)>) For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/BaseClient.html#getstatus). {{% /tab %}} {{% tab name="Flutter" %}} **Parameters:** - None. **Returns:** - [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)<[Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>\> For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Resource/getStatus.html). {{% /tab %}} {{< /tabs >}} ### GetResourceName Get the `ResourceName` for this base. {{< tabs >}} {{% tab name="Python" %}} **Parameters:** - `name` ([str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str)) (required): The name of the Resource. **Returns:** - ([viam.proto.common.ResourceName](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.ResourceName)): : The ResourceName of this Resource. **Example:** ```python {class="line-numbers linkable-line-numbers"} my_base_name = Base.get_resource_name("my_base") ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/base/client/index.html#viam.components.base.client.BaseClient.get_resource_name). {{% /tab %}} {{% tab name="Go" %}} **Parameters:** - None. **Returns:** - [(Name)](https://pkg.go.dev/go.viam.com/rdk@v0.89.0/resource#Name) **Example:** ```go {class="line-numbers linkable-line-numbers"} myBase, err := base.FromProvider(machine, "my_base") err = myBase.Name() ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource). {{% /tab %}} {{% tab name="TypeScript" %}} **Parameters:** - None. **Returns:** - (string): The name of the resource. **Example:** ```ts {class="line-numbers linkable-line-numbers"} base.name ``` For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/BaseClient.html#name). {{% /tab %}} {{% tab name="Flutter" %}} **Parameters:** - `name` [String](https://api.flutter.dev/flutter/dart-core/String-class.html) (required) **Returns:** - [ResourceName](https://flutter.viam.dev/viam_sdk/ResourceName-class.html) For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Base/getResourceName.html). {{% /tab %}} {{< /tabs >}} ### Close Safely shut down the resource and prevent further use. {{< tabs >}} {{% tab name="Python" %}} **Parameters:** - None. **Returns:** - None. **Example:** ```python {class="line-numbers linkable-line-numbers"} my_base = Base.from_robot(robot=machine, name="my_base") await my_base.close() ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/base/client/index.html#viam.components.base.client.BaseClient.close). {{% /tab %}} {{% tab name="Go" %}} **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. **Returns:** - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. **Example:** ```go {class="line-numbers linkable-line-numbers"} myBase, err := base.FromProvider(machine, "my_base") err = myBase.Close(context.Background()) ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource). {{% /tab %}} {{< /tabs >}}