viam.components.movement_sensor.movement_sensor

Attributes

RESOURCE_NAMESPACE_RDK

RESOURCE_TYPE_COMPONENT

SensorReading

Types that can be returned from a sensor

Classes

ComponentBase

Base component.

GetAccuracyResponse

Abstract base class for protocol messages.

GetPropertiesResponse

Abstract base class for protocol messages.

Subtype

Represents a known component/service (resource) API

MovementSensor

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

Module Contents

class viam.components.movement_sensor.movement_sensor.ComponentBase(name: str)[source]

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

Base component. All components must inherit from this class.

SUBTYPE: ClassVar[viam.resource.types.Subtype]
classmethod from_robot(robot: viam.robot.client.RobotClient, name: str) typing_extensions.Self[source]

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][source]
Async:

Send/Receive arbitrary commands to the Resource

command = {"cmd": "test", "data1": 500}
result = component.do(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][source]

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 = my_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()
class viam.components.movement_sensor.movement_sensor.GetAccuracyResponse(*, accuracy: collections.abc.Mapping[str, float] | None = ..., position_hdop: float | None = ..., position_vdop: float | None = ..., position_nmea_gga_fix: int | None = ..., compass_degrees_error: float | None = ...)

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.

class AccuracyEntry(*, key: str = ..., value: 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.

key: str
value: float
position_hdop: float
position_vdop: float
position_nmea_gga_fix: int
compass_degrees_error: float
property accuracy: google.protobuf.internal.containers.ScalarMap[str, float]
HasField(field_name: Literal['_compass_degrees_error', b'_compass_degrees_error', '_position_hdop', b'_position_hdop', '_position_nmea_gga_fix', b'_position_nmea_gga_fix', '_position_vdop', b'_position_vdop', 'compass_degrees_error', b'compass_degrees_error', 'position_hdop', b'position_hdop', 'position_nmea_gga_fix', b'position_nmea_gga_fix', 'position_vdop', b'position_vdop']) bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

WhichOneof(oneof_group: Literal['_compass_degrees_error', b'_compass_degrees_error']) Literal['compass_degrees_error'] | None
WhichOneof(oneof_group: Literal['_position_hdop', b'_position_hdop']) Literal['position_hdop'] | None
WhichOneof(oneof_group: Literal['_position_nmea_gga_fix', b'_position_nmea_gga_fix']) Literal['position_nmea_gga_fix'] | None
WhichOneof(oneof_group: Literal['_position_vdop', b'_position_vdop']) Literal['position_vdop'] | None

Returns the name of the field that is set inside a oneof group.

If no field is set, returns None.

Parameters:

oneof_group (str) – the name of the oneof group to check.

Returns:

The name of the group that is set, or None.

Return type:

str or None

Raises:

ValueError – no group with the given name exists

class viam.components.movement_sensor.movement_sensor.GetPropertiesResponse(*, linear_velocity_supported: bool = ..., angular_velocity_supported: bool = ..., orientation_supported: bool = ..., position_supported: bool = ..., compass_heading_supported: bool = ..., linear_acceleration_supported: bool = ...)

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.

linear_velocity_supported: bool
angular_velocity_supported: bool
orientation_supported: bool
position_supported: bool
compass_heading_supported: bool
linear_acceleration_supported: bool
viam.components.movement_sensor.movement_sensor.RESOURCE_NAMESPACE_RDK = 'rdk'
viam.components.movement_sensor.movement_sensor.RESOURCE_TYPE_COMPONENT = 'component'
class viam.components.movement_sensor.movement_sensor.Subtype(namespace: str, resource_type: str, resource_subtype: str)[source]

Represents a known component/service (resource) API

namespace: str

The namespace of the resource

resource_type: str

The type of the resource, for example component or service

resource_subtype: str

The subtype of the resource for example servo, arm, vision

__str__() str[source]

Return str(self).

__repr__() str[source]

Return repr(self).

__hash__() int[source]

Return hash(self).

__eq__(other: object) bool[source]

Return self==value.

classmethod from_resource_name(resource_name: viam.proto.common.ResourceName) typing_extensions.Self[source]

Convert a `ResourceName` into a `Subtype`

Parameters:

resource_name (viam.proto.common.ResourceName) – The ResourceName to convert

Returns:

A new Subtype

Return type:

Self

classmethod from_string(string: str) typing_extensions.Self[source]

Create a `Subtype` from its string representation (namespace:resource_type:resource_subtype)

Parameters:

string (str) – The Subtype as a string

Raises:

ValueError – Raised if the string does not represent a valid Subtype

Returns:

A new Subtype

Return type:

Self

viam.components.movement_sensor.movement_sensor.SensorReading

Types that can be returned from a sensor

class viam.components.movement_sensor.movement_sensor.MovementSensor(name: str)[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.

SUBTYPE: Final
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 = component.do(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 = my_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()