viam.components.movement_sensor

Submodules

Classes

`GeoPoint`	Abstract base class for protocol messages.
`Orientation`	Abstract base class for protocol messages.
`Vector3`	Abstract base class for protocol messages.
`MovementSensor`	MovementSensor reports information about the robot's direction, position and speed.

Package Contents

class viam.components.movement_sensor.GeoPoint(*, latitude: float = ..., longitude: float = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

latitude: float

longitude: float

class viam.components.movement_sensor.Orientation(*, o_x: float = ..., o_y: float = ..., o_z: float = ..., theta: float = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

o_x: float: x component of a vector defining axis of rotation

o_y: float: y component of a vector defining axis of rotation

o_z: float: z component of a vector defining axis of rotation

theta: float: degrees

class viam.components.movement_sensor.Vector3(*, x: float = ..., y: float = ..., z: float = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

x: float

y: float

z: float

class viam.components.movement_sensor.MovementSensor(name: str, *, logger: logging.Logger | None = None)[source]

Bases: viam.components.component_base.ComponentBase

MovementSensor reports information about the robot’s direction, position and speed.

This acts as an abstract base class for any sensors that can provide data regarding the robot’s direction, position, and speed. This cannot be used on its own. If the __init__() function is overridden, it must call the super().__init__() function.

from viam.components.movement_sensor import MovementSensor

For more information, see Movement Sensor component.

API: Final: The API of the Resource

Accuracy: TypeAlias = GetAccuracyResponse

class Properties[source]

linear_acceleration_supported: bool

angular_velocity_supported: bool

orientation_supported: bool

position_supported: bool

compass_heading_supported: bool

linear_velocity_supported: bool

property proto: viam.proto.component.movementsensor.GetPropertiesResponse

classmethod from_proto(proto: viam.proto.component.movementsensor.GetPropertiesResponse) → typing_extensions.Self[source]

abstract get_position(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) → Tuple[viam.components.movement_sensor.GeoPoint, float][source]

Async:

Get the current GeoPoint (latitude, longitude) and altitude (m)

my_movement_sensor = MovementSensor.from_robot(
    robot=robot,
    name="my_movement_sensor")

# Get the current position of the movement sensor.
position = await my_movement_sensor.get_position()

Returns:: The current lat/long, along with the altitude in m
Return type:: Tuple[GeoPoint, float]

For more information, see Movement Sensor component.

abstract get_linear_velocity(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) → viam.components.movement_sensor.Vector3[source]

Async:

Get the current linear velocity as a Vector3 with x, y, and z axes represented in m/sec

my_movement_sensor = MovementSensor.from_robot(
    robot=robot, name="my_movement_sensor")

# Get the current linear velocity of the movement sensor.
lin_vel = await my_movement_sensor.get_linear_velocity()

Returns:: The linear velocity in m/sec
Return type:: Vector3

For more information, see Movement Sensor component.

abstract get_angular_velocity(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) → viam.components.movement_sensor.Vector3[source]

Async:

Get the current angular velocity as a Vector3 with x, y, and z axes represented in degrees/sec

my_movement_sensor = MovementSensor.from_robot(
    robot=robot, name="my_movement_sensor")

# Get the current angular velocity of the movement sensor.
ang_vel = await my_movement_sensor.get_angular_velocity()

# Get the y component of angular velocity.
y_ang_vel = ang_vel.y

Returns:: The angular velocity in degrees/sec
Return type:: Vector3

For more information, see Movement Sensor component.

abstract get_linear_acceleration(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) → viam.components.movement_sensor.Vector3[source]

Async:

Get the current linear acceleration as a Vector3 with x, y, and z axes represented in m/sec^2

my_movement_sensor = MovementSensor.from_robot(
    robot=robot, name="my_movement_sensor")

# Get the current linear acceleration of the movement sensor.
lin_accel = await my_movement_sensor.get_linear_acceleration()

# Get the x component of linear acceleration.
x_lin_accel = lin_accel.x

Returns:: The linear acceleration in m/sec^2
Return type:: Vector3

For more information, see Movement Sensor component.

abstract get_compass_heading(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) → float[source]

Async:

Get the current compass heading in degrees

my_movement_sensor = MovementSensor.from_robot(
    robot=robot, name="my_movement_sensor")

# Get the current compass heading of the movement sensor.
heading = await my_movement_sensor.get_compass_heading()

Returns:: The compass heading in degrees
Return type:: float

For more information, see Movement Sensor component.

abstract get_orientation(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) → viam.components.movement_sensor.Orientation[source]

Async:

Get the current orientation

my_movement_sensor = MovementSensor.from_robot(
    robot=robot, name="my_movement_sensor")

# Get the current orientation vector of the movement sensor.
orientation = await my_movement_sensor.get_orientation()

Returns:: The orientation
Return type:: Orientation

For more information, see Movement Sensor component.

abstract get_properties(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) → Properties[source]

Async:

Get the supported properties of this sensor

my_movement_sensor = MovementSensor.from_robot(
    robot=robot, name="my_movement_sensor")

# Get the supported properties of the movement sensor.
properties = await my_movement_sensor.get_properties()

Returns:: The properties
Return type:: MovementSensor.Properties

For more information, see Movement Sensor component.

abstract get_accuracy(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) → Accuracy[source]

Async:

Get the accuracy of the various sensors

my_movement_sensor = MovementSensor.from_robot(
    robot=robot, name="my_movement_sensor")

# Get the accuracy of the movement sensor.
accuracy = await my_movement_sensor.get_accuracy()

Returns:: The accuracies of the movement sensor
Return type:: MovementSensor.Accuracy

For more information, see Movement Sensor component.

async get_readings(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) → Mapping[str, viam.utils.SensorReading][source]

Obtain the measurements/data specific to this sensor. If a sensor is not configured to have a measurement or fails to read a piece of data, it will not appear in the readings dictionary.

my_movement_sensor = MovementSensor.from_robot(
    robot=robot, name="my_movement_sensor")

# Get the latest readings from the movement sensor.
readings = await my_movement_sensor.get_readings()

Returns:: The readings for the MovementSensor. Can be of any type.
Return type:: Mapping[str, Any]

For more information, see Movement Sensor component.

classmethod from_robot(robot: viam.robot.client.RobotClient, name: str) → typing_extensions.Self

Get the component named name from the provided robot.

Parameters:

robot (RobotClient) – The robot
name (str) – The name of the component

Returns:

The component, if it exists on the robot

Return type:

Self

abstract do_command(command: Mapping[str, ValueTypes], *, timeout: float | None = None, **kwargs) → Mapping[str, ValueTypes]

Async:

Send/Receive arbitrary commands to the Resource

command = {"cmd": "test", "data1": 500}
result = await component.do_command(command)

Parameters:: command (Mapping[str, ValueTypes]) – The command to execute
Raises:: NotImplementedError – Raised if the Resource does not support arbitrary commands
Returns:: Result of the executed command
Return type:: Mapping[str, ValueTypes]

async get_geometries(*, extra: Dict[str, Any] | None = None, timeout: float | None = None) → List[viam.proto.common.Geometry]

Get all geometries associated with the component, in their current configuration, in the frame of the component.

geometries = await component.get_geometries()

if geometries:
    # Get the center of the first geometry
    print(f"Pose of the first geometry's centerpoint: {geometries[0].center}")

Returns:: The geometries associated with the Component.
Return type:: List[Geometry]

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 = Arm.get_resource_name("my_arm")

Parameters:: name (str) – The name of the Resource
Returns:: The ResourceName of this Resource
Return type:: ResourceName

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. ).

Parameters:: kwargs (Mapping[str, Any]) – The kwargs object containing the operation
Returns:: The operation associated with this function
Return type:: viam.operations.Operation

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()