Module Contents



Base service client.

class str, channel: grpclib.client.Channel)[source]

Bases: abc.ABC, viam.resource.base.ResourceBase

Base service client. All service clients must inherit from this class.

SUBTYPE: ClassVar[viam.resource.base.Subtype]
channel: grpclib.client.Channel
classmethod from_robot(robot: viam.robot.client.RobotClient, name: str = 'builtin') typing_extensions.Self[source]

Get the service client named name from the provided robot.

  • robot (RobotClient) – The robot

  • name (str) – The name of the service client


The service client, if it exists on the robot

Return type:


abstract async do_command(command: Mapping[str, viam.utils.ValueTypes], *, timeout: float | None = None, **kwargs) Mapping[str, viam.utils.ValueTypes][source]

Send/Receive arbitrary commands to the Resource

command = {"cmd": "test", "data1": 500}
result =

command (Mapping[str, ValueTypes]) – The command to execute


NotImplementedError – Raised if the Resource does not support arbitrary commands


Result of the executed command

Return type:

Mapping[str, ValueTypes]

classmethod get_resource_name(name: str) viam.proto.common.ResourceName

Get the ResourceName for this Resource with the given name

# Can be used with any resource, using an arm as an example
my_arm_name = my_arm.get_resource_name("my_arm")

name (str) – The name of the Resource


The ResourceName of this Resource

Return type:


get_operation(kwargs: Mapping[str, Any]) viam.operations.Operation

Get the Operation associated with the currently running function.

When writing custom resources, you should get the Operation by calling this function and check to see if it’s cancelled. If the Operation is cancelled, then you can perform any necessary (terminating long running tasks, cleaning up connections, etc. ).


kwargs (Mapping[str, Any]) – The kwargs object containing the operation


The operation associated with this function

Return type:


async close()

Safely shut down the resource and prevent further use.

Close must be idempotent. Later configuration may allow a resource to be “open” again. If a resource does not want or need a close function, it is assumed that the resource does not need to return errors when future non-Close methods are called.

await component.close()