Sensors#

Genesis 提供多种传感器用于感知仿真状态。传感器会连接到实体或场景上，并返回视觉观测、接触、惯性、光线投射、接近距离和温度等数据。

概览#

可用的传感器类型：

Sensor

返回类型

字段

形状

Camera

CameraReturnType

rgb (uint8)

([n_envs,] h, w, 3)

ContactSensor

torch.Tensor (bool)

-

([n_envs,] 1)

ContactForceSensor

torch.Tensor (float32)

-

([n_envs,] 3)

IMUSensor

IMUReturnType

lin_acc, ang_vel, mag (float32)

每个字段 ([n_envs,] 3)

RaycasterSensor

RaycasterReturnType

points, distances (float32)

([n_envs,] *shape, 3), ([n_envs,] *shape)

DepthCameraSensor

RaycasterReturnType

points, distances (float32)

([n_envs,] h, w, 3), ([n_envs,] h, w)

ProximitySensor

torch.Tensor (float32)

-

([n_envs,] n_probes)

KinematicContactProbe

KinematicContactProbeData

penetration, force (float32)

([n_envs,] n_probes), ([n_envs,] n_probes, 3)

ElastomerDisplacementSensor

torch.Tensor (float32)

-

([n_envs,] n_probes, 3)

TemperatureGridSensor

torch.Tensor (float32)

-

([n_envs,] nx, ny, nz)

快速开始#

添加 Sensors#

import genesis as gs

gs.init()
scene = gs.Scene()
robot = scene.add_entity(gs.morphs.URDF(file="robot.urdf"))
end_effector = robot.get_link("end_effector")
base = robot.get_link("base_link")

# Camera sensor（通过 add_camera）
cam = scene.add_camera(
    res=(640, 480),
    pos=(3, 0, 2),
    lookat=(0, 0, 0.5),
)

# 末端执行器上的接触力 sensor
contact_sensor = scene.add_sensor(
    gs.sensors.ContactForce(
        entity_idx=robot.idx,
        link_idx_local=end_effector.idx_local,
    )
)

# IMU sensor
imu = scene.add_sensor(
    gs.sensors.IMU(
        entity_idx=robot.idx,
        link_idx_local=base.idx_local,
    )
)

scene.build()

读取 Sensor 数据#

scene.step()

# Camera
rgb, _, _, _ = cam.render(rgb=True)
_, depth, _, _ = cam.render(depth=True)

# 接触力
force = contact_sensor.read()

# IMU
imu_data = imu.read()
acceleration = imu_data.lin_acc
angular_velocity = imu_data.ang_vel

Sensor 类型#

另请参阅#