skbot.ignition.sdformat.generic_sdf.sensor.Sensor¶
- class skbot.ignition.sdformat.generic_sdf.sensor.Sensor(*, name, type, always_on=False, update_rate=0, visualize=False, enable_metrics=False, origin=None, pose=None, topic=None, plugins, air_pressure=None, camera=None, ray=None, contact=None, rfid=None, rfidtag=None, imu=None, force_torque=None, gps=None, sonar=None, transceiver=None, frames=None, altimeter=None, lidar=None, logical_camera=None, magnetometer=None, navsat=None, sdf_version)[source]¶
A sensor.
- Parameters
- namestr
A unique name for the sensor. This name must not match another sensor under the same parent.
- typestr
The type name of the sensor. The “ray”, “gpu_ray”, and “gps” types are equivalent to “lidar”, “gpu_lidar”, and “navsat”, respectively. It is preferred to use “lidar”, “gpu_lidar”, and “navsat” since “ray”, “gpu_ray”, and “gps” will be deprecated. The “ray”, “gpu_ray”, and “gps” types are maintained for legacy support. Must be one of:
air_pressure
altimeter
camera
contact
depth_camera, depth
force_torque
gps
gpu_lidar
gpu_ray
imu
lidar
logical_camera
magnetometer
multicamera
navsat
ray
rfid
rfidtag
rgbd_camera, rgbd
sonar
thermal_camera, thermal
wireless_receiver
wireless_transmitter
- always_onbool
If true the sensor will always be updated according to the update rate. Default is
False
.- update_ratefloat
The frequency at which the sensor data is generated. If set to 0, the sensor will generate data every cycle. Default is
0
.- visualizebool
If true, the sensor is visualized in the GUI. Default is
False
.- enable_metricsbool
If true, the sensor will publish performance metrics. Default is
False
.New in version SDFormat: v1.7
- posePose
The links’s initial position (x,y,z) and orientation (roll, pitch, yaw).
New in version SDFormat: 1.2
- topicstr
Name of the topic on which data is published.
- pluginsList[Plugin]
A list of plugins used to customize the runtime behavior of the simulation.
- air_pressureAirPressure
Parameters of a Barometer sensor.
New in version SDFormat: v1.6
- cameraCamera
Parameters of a Camera sensor.
- rayRay
Parameters of a Laser sensor.
- contactContact
Parameters of a Contact sensor.
- rfidRfid
Parameters of a RFID sensor.
- rfidtagRfidTag
Parameters of a RFID Tag.
- imuImu
Parameters of a Inertial Measurement Unit (IMU).
New in version SDFormat: v1.3
- force_torqueForceTorque
Parameters of a torque sensor.
New in version SDFormat: v1.4
- gpsGps
Parameters of a GPS.
New in version SDFormat: v1.4
- sonarSonar
parameters of a Sonar.
New in version SDFormat: v1.4
- transceiverTransceiver
Parameters for a wireless transceiver.
New in version SDFormat: v1.4
- altimeterAltimeter
Parameters for an Altimeter,
New in version SDFormat: v1.5
- lidarLidar
Parameters of a LIDAR sensor.
New in version SDFormat: v1.6
- logical_cameraLogicalCamera
Parameters of a logical camera.
- magnetometerMagnetometer
Parameters of a magnetometer.
New in version SDFormat: v1.5
- navsatNavsat
Parameters of a GPS.
New in version SDFormat: v1.7
- sdf_versionstr
The SDFormat version to use when constructing this element.
- originOrigin
The link’s origin.
Deprecated since version SDFormat: v1.2 Use Sensor.pose instead.
- framesList[Frame]
A list of frames of reference in which poses may be expressed.
Deprecated since version SDFormat: v1.7 Use
Model.frame
instead.New in version SDFormat: v1.5
- Attributes
- particle_emittersList[ParticleEmitter]
See
Parameters
section.- namestr
See
Parameters
section.- typestr
See
Parameters
section.- always_onbool
See
Parameters
section.- update_ratefloat
See
Parameters
section.- visualizebool
See
Parameters
section.- enable_metricsbool
See
Parameters
section.- posePose
See
Parameters
section.- topicstr
See
Parameters
section.- pluginsList[Plugin]
See
Parameters
section.- air_pressureAirPressure
See
Parameters
section.- cameraCamera
See
Parameters
section.- rayRay
See
Parameters
section.- contactContact
See
Parameters
section.- rfidRfid
See
Parameters
section.- rfidtagRfidTag
See
Parameters
section.- imuImu
See
Parameters
section.- force_torqueForceTorque
See
Parameters
section.- gpsGps
See
Parameters
section.- sonarSonar
See
Parameters
section.- transceiverTransceiver
See
Parameters
section.- altimeterAltimeter
See
Parameters
section.- lidarLidar
See
Parameters
section.- logical_cameraLogicalCamera
See
Parameters
section.- magnetometerMagnetometer
See
Parameters
section.- navsatNavsat
See
Parameters
section.
- __init__(*, name, type, always_on=False, update_rate=0, visualize=False, enable_metrics=False, origin=None, pose=None, topic=None, plugins, air_pressure=None, camera=None, ray=None, contact=None, rfid=None, rfidtag=None, imu=None, force_torque=None, gps=None, sonar=None, transceiver=None, frames=None, altimeter=None, lidar=None, logical_camera=None, magnetometer=None, navsat=None, sdf_version)[source]¶
Methods
__init__
(*, name, type[, always_on, ...])declared_frames
()Frames contained in this element.
from_specific
(specific, *, version)Create from version-specific object
to_dynamic_graph
(declared_frames, ...[, ...])Convert to transform graph
to_static_graph
(declared_frames, sensor_frame, *)Convert to transform graph
Attributes
frames
origin