📷 Sensing & Perception¶
OrcaGym provides various sensor interfaces and RGB-D camera support.
For complete runnable code, see OrcaPlayground examples/euler/04_query_api/ and 08_video_capture/.
Sensor Types¶
| Sensor | MuJoCo Type | Output |
|---|---|---|
| Accelerometer | mjSENS_ACCELEROMETER |
(3,) acceleration |
| Gyroscope | mjSENS_GYRO |
(3,) angular velocity |
| Force/Torque | mjSENS_FORCE / mjSENS_TORQUE |
(3,) / (3,) |
| Touch | mjSENS_TOUCH |
(n,) touch array |
| Joint Position | mjSENS_JOINTPOS |
(1,) joint angle |
| Joint Velocity | mjSENS_JOINTVEL |
(1,) joint velocity |
| RGB-D Camera | WebSocket streaming | (H, W, 3) image + depth |
Query Method¶
All sensor data is queried through the unified env.query_sensor_data(names) API:
sensor_data = env.query_sensor_data(["g1_imu_quat", "g1_imu_gyro"])
imu_quat = sensor_data["g1_imu_quat"] # (4,) orientation quaternion
imu_gyro = sensor_data["g1_imu_gyro"] # (3,) angular velocity
Chapter Navigation¶
- 🖲️ Sensor System — MuJoCo native sensor querying and data layout
- 📹 RGB-D Camera — WebSocket camera streaming
- 🤝 Contact Sensing — Contact forces as tactile perception