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