Sensors

GRID currently supports the following sensors with Isaac Sim.

Camera

This is a camera sensor that can be of type RGB or Depth.

Configuration

The configuration for the camera sensor can be set up in the the configuration file. The following parameters are available:

Parameter	Description
Height	The height of the captured image
Width	The width of the captured image
Offset	The offset of the camera with respect to the robot’s frame of reference
Focal Length	The focal length of the camera
Focal Distance	The focal distance of the camera
Horizontal Aperture	The horizontal aperture of the camera
Clipping Range	The clipping range of the camera

These parameters can be configured using the scene_cfg.yaml in the following manner:

sensors:
    - camera_0: # choose a name for the sensor
        type: CameraRGB # or CameraDepth
        config:
            prim_path: "" # Prim path to the link you want to attach the camera sensor
            height: 400
            width: 600
            offset: 
                pos: [0.0, 0.0, 0.0] # add init (x, y, z) position  
                rot: [0.0, 0.0, 0.0, 0.0] # add init (x, y, z, w) quaternion
            spawn:
                focal_length: 24.0
                focus_distance: 400.0
                horizontal_aperture: 20.955
                clipping_range: (0.1, 1.0e5)

Contact Sensor

This is a simple contact sensor that works as a ray caster simulating surface pressure by detecting contact points with precision.

Configuration

The configuration for the height sensor can be set up in the the configuration file. The following parameters are available:

Parameter	Description
History length	The length of history to consider while computing sensor values

These parameters can be configured using the scene_cfg.yaml in the following manner:

sensors:
    - contact_forces: # choose a name for the sensor
         type: ContactSensor
         config:
            history_length: 3

Height Sensor

This is a simple height sensor that works as a ray caster to obtain the height values of points in a specified pattern.

Configuration

The configuration for the height sensor can be set up in the the configuration file. The following parameters are available:

Parameter	Description
Offset	The offset of the height sensor with respect to robot’s frame of reference
Pattern Resolution	The resolution of the grid pattern around the sensor
Pattern Size	The start and end of the grid pattern

These parameters can be configured using the scene_cfg.yaml in the following manner:

sensors:
    - height_scanner: # choose a name for the sensor
        type: HeightSensor
        link: torso_link # link to which you want to attach the sensor
        config:
            offset: 
                pos: [0.0, 0.0, 0.0] # add init (x, y, z) position  
                rot: [0.0, 0.0, 0.0, 0.0] # add init (x, y, z, w) quaternion
            pattern_cfg:
                resolution: 0.1 
                size=[1.6, 1.0]

LiDAR

This is a LiDAR sensor that works as a ray caster to obtain a point cloud around the sensor.

Configuration

The configuration for the height sensor can be set up in the the configuration file. The following parameters are available:

Parameter	Description
Offset	The offset of the height sensor with respect to the robot’s frame of reference
Pattern Size	The start and end of the grid pattern
Max Distance	The maximum sensing distance of the height sensor
Vertical FOV	The vertical field of view of the sensor
Horizontal FOV	The horizontal field of view of the sensor
Horizontal Resolution	The horizontal resolution of the sensor
Channels	The number of channels used by the sensor

These parameters can be configured using the scene_cfg.yaml in the following manner:

sensors:
    - lidar: # choose a name for the sensor
        type: LiDAR
        link: torso_link # link to which you want to attach the sensor
        config:
            offset: 
                pos: [0.0, 0.0, 0.0] # add init (x, y, z) position  
                rot: [0.0, 0.0, 0.0, 0.0] # add init (x, y, z, w) quaternion
            pattern_cfg:
                channels: 16 
                vertical_fov_range=(-15.0, 15.0)
                horizontal_fov_range=(-180.0, 180.0)
                horizontal_res=0.2
            max_distance: 100