built-ins by viam - Registry

built-ins by viam

Public

Built-in components and services provided by viam-server

rdk:builtin:fake

rdk:component:arm
Fake arm for testing. Simulates a configurable kinematic model and tracks joint positions.

rdk:builtin:simulated

rdk:component:arm
Simulated arm that moves joints toward targets over time. Useful for deterministic tests.

rdk:builtin:wrapper_arm

rdk:component:arm
Wraps an arm component to add Viam kinematic model and motion planning on top of it.

rdk:builtin:fake

rdk:component:audio_in
Fake audio input that streams silent PCM16 at a configurable sample rate and channel count.

rdk:builtin:fake

rdk:component:audio_out
Fake audio output that blocks for an audio clip's duration without producing sound.

rdk:builtin:fake

rdk:component:base
Fake base that accepts movement commands without moving and returns static properties.

rdk:builtin:sensor-controlled

rdk:component:base
Wraps a base and uses movement sensors for closed-loop PID velocity and heading control.

rdk:builtin:wheeled

rdk:component:base
Differential-drive base with left and right motor groups, wheel geometry, and slip factor.

rdk:builtin:esp32

rdk:component:board
Configures an ESP32 as a board in micro-RDK with GPIO, interrupts, analogs, and I2C.

rdk:builtin:fake

rdk:component:board
Fake board with in-memory GPIO, analog readers, and digital interrupts for testing.

rdk:builtin:fake

rdk:component:button
Fake button that logs a timestamped message each time Push is called.

rdk:builtin:fake

rdk:component:camera
Fake camera that generates a synthetic color-gradient image and point cloud for testing.

rdk:builtin:ffmpeg

rdk:component:camera
Reads video with ffmpeg and exposes decoded JPEG frames as a color camera.

rdk:builtin:image_file

rdk:component:camera
Serves still images, depth maps, or point clouds from files or a built-in demo image.

rdk:builtin:replay_pcd

rdk:component:camera
Streams point clouds from Viam Cloud data for a robot, location, org, and time window.

rdk:builtin:transform

rdk:component:camera
Transforms images from a source camera via a pipeline of crop, resize, rotate, and detection.

rdk:builtin:webcam

rdk:component:camera
Exposes a USB, built-in, or Linux video-device webcam as a color camera.

rdk:builtin:fake

rdk:component:encoder
Fake encoder that tracks a position count updated by a background goroutine on an interval.

rdk:builtin:incremental

rdk:component:encoder
Quadrature (A/B) incremental encoder counting ticks from two digital interrupt lines.

rdk:builtin:single

rdk:component:encoder
Single-channel encoder on one digital interrupt; uses an attached motor for direction sign.

rdk:builtin:fake

rdk:component:gantry
Fake single-axis gantry that tracks position in memory and validates against length bounds.

rdk:builtin:multi-axis

rdk:component:gantry
Composes several single-axis gantries into one multi-axis gantry, moved serially or parallel.

rdk:builtin:single-axis

rdk:component:gantry
One linear axis driven by a motor, with optional limit switches and a kinematics file.

rdk:builtin:fake

rdk:component:generic
Fake generic component that echoes any DoCommand input back to the caller unmodified.

rdk:builtin:fake

rdk:component:gripper
Fake gripper that tracks open/close state; Open and Grab snap joints to max/min limits.

rdk:builtin:fake

rdk:component:input_controller
Fake input controller with AbsoluteX and ButtonStart; fires random or user events on intervals.

rdk:builtin:gamepad

rdk:component:input_controller
Linux-compatible gamepad input via device file path, with optional auto-reconnect.

rdk:builtin:gpio

rdk:component:input_controller
Maps a board's GPIO digital interrupts to buttons and analog readers to joystick axes.

rdk:builtin:mux

rdk:component:input_controller
Composes several input controllers into one, forwarding the union of their controls and events.

rdk:builtin:webgamepad

rdk:component:input_controller
Web-based gamepad input. Useful for tele-operation from a browser.

rdk:builtin:fake

rdk:component:motor
Fake motor that tracks power in memory and pairs with a fake encoder for timed GoFor/GoTo.

rdk:builtin:gpio

rdk:component:motor
DC motor driven by GPIO on a board; optional encoder enables closed-loop GoTo with PID gains.

rdk:builtin:gpiostepper

rdk:component:motor
Stepper motor driven via GPIO step/direction pins (e.g. DRV8825, A4988) with optional enable.

rdk:builtin:fake

rdk:component:movement_sensor
Fake movement sensor returning hardcoded static position, velocity, heading, and orientation.

rdk:builtin:merged

rdk:component:movement_sensor
Combines multiple movement sensors; the first sensor supporting each property provides readings.

rdk:builtin:replay

rdk:component:movement_sensor
Replays captured movement sensor readings from Viam Cloud for a given time window.

rdk:builtin:wheeled-odometry

rdk:component:movement_sensor
Estimates movement from motor positions and a wheeled base's track width and wheel circumference.

rdk:builtin:fake

rdk:component:power_sensor
Fake power sensor returning hardcoded static readings: 1.5V AC, 2.2A AC, and 9.8W.

rdk:builtin:fake

rdk:component:sensor
Fake sensor returning a fixed {"a": 1, "b": 2, "c": 3} readings map.

rdk:builtin:fake

rdk:component:servo
Fake servo that tracks a single angle in memory; Move stores it and Position returns it.

rdk:builtin:gpio

rdk:component:servo
PWM servo on a board GPIO pin, with angle limits and optional pulse-width overrides.

rdk:builtin:fake

rdk:component:switch
Fake multi-position switch with configurable position count and optional labels.

rdk:builtin:builtin

rdk:service:base_remote_control
Maps an input controller's events to velocity commands on a base, with optional speed limits.

rdk:builtin:builtin

rdk:service:data_manager
Captures data from components and services and syncs it to Viam Cloud with retry and resume.

rdk:builtin:fake

rdk:service:discovery
Fake discovery service returning a hardcoded list with a fake movement sensor and fake camera.

rdk:builtin:fake

rdk:service:generic
Fake generic service that echoes any DoCommand input back to the caller unmodified.

rdk:builtin:builtin

rdk:service:motion
Plans and executes coordinated motion for a machine's components using the frame system.

rdk:builtin:builtin

rdk:service:navigation
GPS waypoint navigation for a wheeled base, with optional obstacle detection and geofencing.

rdk:builtin:builtin

rdk:service:shell
Lets authorized clients open an interactive shell and copy files to and from the machine.

rdk:builtin:fake

rdk:service:slam
Fake SLAM service returning pre-recorded Cartographer position, map, and internal-state data.

rdk:builtin:fake

rdk:service:video
Fake video service that streams a fixed set of dummy video frames at 40ms intervals.

rdk:builtin:color_detector

rdk:service:vision
Segments an image by hue (HSV) with optional saturation/value cutoffs and merges detections.

rdk:builtin:fake

rdk:service:vision
Fake vision service returning one hardcoded classification and one centered detection.

rdk:builtin:mlmodel

rdk:service:vision
Runs a registered mlmodel on camera images and interprets outputs as classifications/detections.

rdk:builtin:fake

rdk:service:world_state_store
Fake world state store with in-memory transforms and a moving_geos or pcd_stream sample world.