openapi: 3.1.0
info:
  title: Viam SLAM Service API
  description: |
    REST/JSON transcoding of the Viam SLAMService gRPC API. Simultaneous Localization
    And Mapping — GetPosition returns the machine's pose within the map; GetPointCloudMap
    and GetInternalState stream the live map.

    Canonical contract: https://github.com/viamrobotics/api/blob/main/proto/viam/service/slam/v1/slam.proto
  version: '2026.05'
  contact:
    name: Viam Support
    url: https://www.viam.com/contact
servers:
  - url: https://{machine_address}
    description: Per-machine viam-server endpoint.
    variables:
      machine_address:
        default: machine.local.viam.cloud:443
security:
  - ApiKeyAuth: []
tags:
  - name: SLAM
    description: Simultaneous Localization And Mapping.
paths:
  /viam.service.slam.v1.SLAMService/GetPosition:
    post:
      summary: Viam Get Position
      description: Return the machine's pose within the SLAM map.
      operationId: getPosition
      tags: [SLAM]
      requestBody:
        required: true
        content:
          application/json:
            schema:
              type: object
              required: [name]
              properties:
                name: { type: string }
      responses:
        '200':
          description: Successful response.
  /viam.service.slam.v1.SLAMService/GetPointCloudMap:
    post:
      summary: Viam Get Point Cloud Map
      description: Stream the live point cloud map.
      operationId: getPointCloudMap
      tags: [SLAM]
      requestBody:
        required: true
        content:
          application/json:
            schema:
              type: object
              required: [name]
              properties:
                name: { type: string }
                return_edges_only: { type: boolean }
      responses:
        '200':
          description: Successful response.
  /viam.service.slam.v1.SLAMService/GetInternalState:
    post:
      summary: Viam Get Internal State
      description: Stream the internal SLAM state (used for resume and offline analysis).
      operationId: getInternalState
      tags: [SLAM]
      requestBody:
        required: true
        content:
          application/json:
            schema:
              type: object
              required: [name]
              properties:
                name: { type: string }
      responses:
        '200':
          description: Successful response.
  /viam.service.slam.v1.SLAMService/GetProperties:
    post:
      summary: Viam Get Properties
      description: Retrieve SLAM service properties (mapping vs localization, cloud vs local).
      operationId: getProperties
      tags: [SLAM]
      requestBody:
        required: true
        content:
          application/json:
            schema:
              type: object
              required: [name]
              properties:
                name: { type: string }
      responses:
        '200':
          description: Successful response.
  /viam.service.slam.v1.SLAMService/DoCommand:
    post:
      summary: Viam Do Command
      description: Model-specific custom commands.
      operationId: doCommand
      tags: [SLAM]
      requestBody:
        required: true
        content:
          application/json:
            schema:
              type: object
              required: [name, command]
              properties:
                name: { type: string }
                command: { type: object }
      responses:
        '200':
          description: Successful response.
components:
  securitySchemes:
    ApiKeyAuth:
      type: apiKey
      in: header
      name: key
      description: Viam API key or location secret.