> ## 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 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 by adding the sensor in the scene entity inside `env.yaml` in the following manner: ```yaml theme={null} - camera_sensor_name: type: Sensor name: CameraRGB config: prim_path: "/World/envs/env_.*/tabletop_rgb_camera" height: 256 width: 256 offset: pos: [1.5, 0.0, 0.7] rot: [0.0, -0.3, 0.0, 1.0] convention: "world" spawn: focal_length: 24.0 focus_distance: 400.0 horizontal_aperture: 20.955 clipping_range: [0.1, 100000] ``` ## 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 by adding the sensor in the scene entity inside `env.yaml` in the following manner: ```yaml theme={null} - contact_sensor_name: type: Sensor name: ContactSensor config: prim_path: "/World/envs/env_.*/robot/.*" history_length: 3 ``` Note that you need to make sure `activate_contact_sensors` flag is set to true for your robot. ## 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 by adding the sensor in the scene entity inside `env.yaml` in the following manner: ```yaml theme={null} - height_sensor_name: type: Sensor name: HeightSensor config: prim_path: "/World/envs/env_.*/robot/body" offset: pos: [0.3, 0.0, 0.22] rot: [0.0, 0.0, 0.0, 1.0] 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 by adding the sensor in the scene entity inside `env.yaml` in the following manner: ```yaml theme={null} - lidar_sensor_name: type: Sensor name: LiDAR 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 ``` ## IMU The Inertial Measurement Unit (IMU) provides orientation and acceleration data by measuring the robot’s linear accelerations and angular velocities in its own body frame. ### Configuration The configuration for the IMU sensor can be set up in the the configuration file. The following parameters are available: | Parameter | Description | | ---------------- | ------------------------------------------------------------------------------------------------------- | | **Offset** | Pose of the IMU relative to the robot’s frame of reference | | **Gravity Bias** | The constant gravity vector to subtract from raw acceleration readings, as a 3-tuple `(x, y, z)` (m/s²) | These parameters can be configured by adding the sensor in the scene entity inside `env.yaml` in the following manner: ```yaml theme={null} - imu_sensor_name: type: Sensor name: IMU config: prim_path: "/World/envs/env_.*/robot/body" 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 gravity_bias: [0.0, 0.0, 9.81] ``` ## Rectified Camera This is a rectified camera sensor that applies intrinsic and extrinsic calibration to produce undistorted images (e.g., for stereo rigs or calibrated monocular setups). ### Configuration The following parameters are available on the `RectifiedCameraCfg`: | Parameter | Description | | ------------------- | ---------------------------------------------------------------------------------- | | **Width** | The width of the captured image | | **Height** | The height of the captured image | | **Offset** | The offset of the camera with respect to the robot's frame of reference | | **D** | Distortion coefficients `[k1, k2, p1, p2, (k3)]`. | | **K** | Intrinsic matrix, flattened `[fx, 0, cx, 0, fy, cy, 0, 0, 1]`. | | **R** | Rectification (rotation) matrix, flattened 3×3. | | **P** | Projection matrix, flattened 3×4 `[fx′, 0, cx′, Tx, 0, fy′, cy′, Ty, 0, 0, 1, 0]`. | | **Clipping Range** | The clipping range of the camera | | **Focal Length** | The focal length of the camera | | **Focal Distance** | The focal distance of the camera | | **F Stop** | Aperture setting for spawn config (`0.0` means wide open). | | **Projection Type** | Type of image projection -- one of "pinhole"`or`"fisheye". | | **Lock Camera** | Whether to lock camera's transform or not. | ### Example Add a rectified camera to your `env.yaml` like so: ```yaml theme={null} - rectified_camera: type: Sensor name: RectifiedCamera config: prim_path: "/World/envs/env_*/stereo_camera" width: 640 height: 480 offset: pos: [0.0, 0.0, 1.2] rot: [0.0, 0.0, 0.0, 1.0] D: [0.1, -0.05, 0.001, 0.0005, 0.0] K: [600.0, 0.0, 320.0, 0.0, 600.0, 240.0, 0.0, 0.0, 1.0] R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0] P: [600.0, 0.0, 320.0, 0.0, 0.0, 600.0, 240.0, 0.0, 0.0, 0.0, 1.0, 0.0] clipping_range: [0.1, 100000] focal_length: 24.0 focus_distance: 500.0 f_stop: 2.8 projection_type: "pinhole" lock_camera: true ```