> ## Documentation Index
> Fetch the complete documentation index at: https://docs.generalrobotics.dev/llms.txt
> Use this file to discover all available pages before exploring further.

# Sensors

Every AirGen robot carries a sensor suite you read through ordinary method
calls. Each sensor takes a name, so a robot can carry several of the same kind
— the defaults below are what a stock vehicle ships with.

## Cameras

Images come back through the shared
[`getImage()`](/python-api/robot-interface/robot#getimage) method, which every
GRID robot has, simulated or physical:

```python theme={null}
image = drone.getImage("front")
```

Cameras are configured per session — resolution, field of view, and stream type
(RGB, depth, segmentation) are all set in the session configuration. See
[Session configuration](/simulation/airgen/session_configuration) for the
camera block, including the noise overlay for testing perception against
degraded video.

## Lidar

```python theme={null}
points = drone.getLidarData("front_lidar")
```

Returns a point cloud from the named lidar. Default name: `front_lidar`.

## IMU

```python theme={null}
imu = drone.getImuData("imu")
```

Accelerometer and gyroscope readings. Default name: `imu`.

## GPS

```python theme={null}
fix = drone.getGpsData("gps")
```

Latitude, longitude, and altitude. GPS output is anchored to the world origin
you set in the session configuration, so you can place a scene at real
coordinates and get plausible fixes out of it. Default name: `gps`.

## Barometer

```python theme={null}
pressure = drone.getBarometerData("barometer")
```

Air pressure and derived altitude. Default name: `barometer`.

## Magnetometer

```python theme={null}
field = drone.getMagnetometerData("magnetometer")
```

Magnetic field vector, for heading estimation. Default name: `magnetometer`.

## Distance sensor

```python theme={null}
distance = drone.getDistanceSensorData("front_range")
```

Single-beam range reading. Default name: `front_range`.

## State

Pose and velocity come through the shared robot methods rather than a sensor:

```python theme={null}
drone.getState()
drone.getPosition()
drone.getOrientation()
```

<Note>
  Sensor availability varies by vehicle — a ground robot has no barometer worth
  reading. The full method list for each class is in the
  [AirGen robots](/python-api/airgen-robots/overview) reference.
</Note>


## Related topics

- [Sensors](/simulation/isaac/sensors.md)
- [Environment Config](/simulation/isaac/session_configuration/env.md)
- [ROS2 Communication](/simulation/isaac/comms.md)
- [Customizing RL Training](/simulation/isaac/reinforcement-learning/customizing-training.md)
- [The Intelligence Grid for Physical AI](/introduction.md)