## built-ins by [viam](https://app.viam.com/namespace/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.