Sensor Catalog
Each robot ships pre-configured with one or more sensors. Location is the USD prim path (a regex) where the sensor is attached. Sensor types: Camera (RGB / depth images), Imu (linear acceleration and angular velocity), Contact Sensor (per-link contact state), and Heightmap Sensor (ray-cast elevation grid).
| Robot | Sensor Name | Type | Location |
|---|---|---|---|
| Canadarm3 | contacts_robot | Contact Sensor | .* |
| Canadarm3 | cam_base | Camera | canadarm3_large_0/camera_base |
| Canadarm3 | cam_wrist | Camera | canadarm3_large_7/camera_wrist |
| Franka | contacts_robot | Contact Sensor | .* |
| Franka | cam_base | Camera | panda_link0/camera_base |
| Franka | cam_wrist | Camera | panda_link7/camera_wrist |
| Kinova J2N6S | contacts_robot | Contact Sensor | .* |
| Kinova J2N6S | cam_base | Camera | j2n6s_link_base/camera_base |
| Kinova J2N6S | cam_wrist | Camera | j2n6s_link_6/camera_wrist |
| Kinova J2N7S | contacts_robot | Contact Sensor | .* |
| Kinova J2N7S | cam_base | Camera | j2n7s_link_base/camera_base |
| Kinova J2N7S | cam_wrist | Camera | j2n7s_link_7/camera_wrist |
| Kinova Gen3N7 | contacts_robot | Contact Sensor | .* |
| Kinova Gen3N7 | cam_base | Camera | base_link/camera_base |
| Kinova Gen3N7 | cam_wrist | Camera | end_effector_link/camera_wrist |
| So Arm100 D5 | contacts_robot | Contact Sensor | .* |
| So Arm100 D5 | cam_base | Camera | Base/camera_base |
| So Arm100 D5 | cam_wrist | Camera | Fixed_Gripper/camera_wrist |
| So Arm100 D7 | contacts_robot | Contact Sensor | .* |
| So Arm100 D7 | cam_base | Camera | Base/camera_base |
| So Arm100 D7 | cam_wrist | Camera | End_Servo/camera_wrist |
| Unitree Z1 | contacts_robot | Contact Sensor | .* |
| Unitree Z1 | cam_base | Camera | link00/camera_base |
| Unitree Z1 | cam_wrist | Camera | link06/camera_wrist |
| Ur3 | contacts_robot | Contact Sensor | .* |
| Ur3 | cam_base | Camera | base_link/camera_base |
| Ur3 | cam_wrist | Camera | wrist_3_link/camera_wrist |
| Ur3E | contacts_robot | Contact Sensor | .* |
| Ur3E | cam_base | Camera | base_link/camera_base |
| Ur3E | cam_wrist | Camera | wrist_3_link/camera_wrist |
| Ur5 | contacts_robot | Contact Sensor | .* |
| Ur5 | cam_base | Camera | base_link/camera_base |
| Ur5 | cam_wrist | Camera | wrist_3_link/camera_wrist |
| Ur5E | contacts_robot | Contact Sensor | .* |
| Ur5E | cam_base | Camera | base_link/camera_base |
| Ur5E | cam_wrist | Camera | wrist_3_link/camera_wrist |
| Ur10 | contacts_robot | Contact Sensor | .* |
| Ur10 | cam_base | Camera | base_link/camera_base |
| Ur10 | cam_wrist | Camera | ee_link/camera_wrist |
| Ur10E | contacts_robot | Contact Sensor | .* |
| Ur10E | cam_base | Camera | base_link/camera_base |
| Ur10E | cam_wrist | Camera | wrist_3_link/camera_wrist |
| Ur16E | contacts_robot | Contact Sensor | .* |
| Ur16E | cam_base | Camera | base_link/camera_base |
| Ur16E | cam_wrist | Camera | wrist_3_link/camera_wrist |
| Ur20 | contacts_robot | Contact Sensor | .* |
| Ur20 | cam_base | Camera | base_link/camera_base |
| Ur20 | cam_wrist | Camera | wrist_3_link/camera_wrist |
| Ur30 | contacts_robot | Contact Sensor | .* |
| Ur30 | cam_base | Camera | base_link/camera_base |
| Ur30 | cam_wrist | Camera | wrist_3_link/camera_wrist |
| Random Ur Manipulator | contacts_robot | Contact Sensor | .* |
| Random Ur Manipulator | cam_base | Camera | base_link/camera_base |
| Random Ur Manipulator | cam_wrist | Camera | wrist_3_link/camera_wrist |
| Vispa | contacts_robot | Contact Sensor | .* |
| Vispa | cam_base | Camera | link0/camera_base |
| Vispa | cam_wrist | Camera | link6/camera_wrist |
| Humanoid21 | imu_robot | Imu | pelvis |
| Humanoid21 | contacts_feet | Contact Sensor | (left|right)_foot |
| Humanoid21 | cam_front | Camera | pelvis/camera_front |
| Humanoid28 | imu_robot | Imu | pelvis |
| Humanoid28 | contacts_feet | Contact Sensor | (left|right)_foot |
| Humanoid28 | cam_front | Camera | pelvis/camera_front |
| Unitree H1 | imu_robot | Imu | pelvis |
| Unitree H1 | contacts_feet | Contact Sensor | (left|right)_ankle_link |
| Unitree H1 | cam_front | Camera | pelvis/camera_front |
| Unitree G1 | imu_robot | Imu | pelvis |
| Unitree G1 | contacts_feet | Contact Sensor | (left|right)_ankle_roll_link |
| Unitree G1 | cam_front | Camera | pelvis/camera_front |
| Crazyflie | imu_robot | Imu | body |
| Crazyflie | cam_onboard | Camera | body/camera_onboard |
| Ingenuity | imu_robot | Imu | body |
| Ingenuity | cam_onboard | Camera | body/camera_onboard |
| Ingenuity | altimeter | Heightmap Sensor | body |
| Heron | imu_robot | Imu | base_link |
| Heron | cam_onboard | Camera | base_link/camera_onboard |
| Anymal C | imu_robot | Imu | base |
| Anymal C | contacts_feet | Contact Sensor | .*FOOT |
| Anymal C | cam_front | Camera | base/camera_front |
| Anymal D | imu_robot | Imu | base |
| Anymal D | contacts_feet | Contact Sensor | .*FOOT |
| Anymal D | cam_front | Camera | base/camera_front |
| Random Anymal Quadruped | imu_robot | Imu | base |
| Random Anymal Quadruped | contacts_feet | Contact Sensor | .*FOOT |
| Random Anymal Quadruped | cam_front | Camera | base/camera_front |
| Cadre | imu_robot | Imu | chassis |
| Cadre | contacts_wheels | Contact Sensor | .*wheel.* |
| Cadre | cam_front | Camera | chassis/camera_front |
| Cassie | imu_robot | Imu | pelvis |
| Cassie | contacts_feet | Contact Sensor | (left|right)_toe |
| Cassie | cam_front | Camera | pelvis/camera_front |
| Husky | imu_robot | Imu | chassis |
| Husky | contacts_wheels | Contact Sensor | .*wheel.* |
| Husky | cam_front | Camera | chassis/camera_front |
| Leo Rover | imu_robot | Imu | chassis |
| Leo Rover | contacts_wheels | Contact Sensor | .*wheel.* |
| Leo Rover | cam_front | Camera | chassis/camera_front |
| Mars Rover | imu_robot | Imu | Body |
| Mars Rover | contacts_wheels | Contact Sensor | .*[Dd]rive.* |
| Mars Rover | cam_front | Camera | Body/camera_front |
| Nifty | imu_robot | Imu | chassis |
| Nifty | contacts_wheels | Contact Sensor | .*wheel.* |
| Nifty | cam_front | Camera | chassis |
| Open Source Rover | imu_robot | Imu | chassis |
| Open Source Rover | contacts_wheels | Contact Sensor | .*wheel.* |
| Open Source Rover | cam_front | Camera | chassis/camera_front |
| Perseverance | imu_robot | Imu | body |
| Perseverance | contacts_wheels | Contact Sensor | .*wheel.* |
| Perseverance | cam_front | Camera | body/camera_front |
| Pragyan | imu_robot | Imu | body |
| Pragyan | contacts_wheels | Contact Sensor | .*wheel.* |
| Pragyan | cam_front | Camera | body/camera_front |
| Raph Rover | imu_robot | Imu | chassis |
| Raph Rover | contacts_wheels | Contact Sensor | wheel.* |
| Raph Rover | cam_front | Camera | chassis/camera_front |
| Spot | imu_robot | Imu | body |
| Spot | contacts_feet | Contact Sensor | .*foot |
| Spot | cam_front | Camera | body/camera_front |
| Unitree A1 | imu_robot | Imu | trunk |
| Unitree A1 | contacts_feet | Contact Sensor | .*foot |
| Unitree A1 | cam_front | Camera | trunk/camera_front |
| Unitree Go1 | imu_robot | Imu | trunk |
| Unitree Go1 | contacts_feet | Contact Sensor | .*foot |
| Unitree Go1 | cam_front | Camera | trunk/camera_front |
| Unitree Go2 | imu_robot | Imu | base |
| Unitree Go2 | contacts_feet | Contact Sensor | .*foot |
| Unitree Go2 | cam_front | Camera | base/camera_front |
| Random Unitree Quadruped | imu_robot | Imu | trunk |
| Random Unitree Quadruped | contacts_feet | Contact Sensor | .*foot |
| Random Unitree Quadruped | cam_front | Camera | trunk/camera_front |
| Floating Platform | imu_robot | Imu | base_link |
| Floating Platform | cam_onboard | Camera | base_link/camera_onboard |
| Int Ball1 | imu_robot | Imu | base_link |
| Int Ball1 | cam_onboard | Camera | base_link/camera_onboard |
| Int Ball2 | imu_robot | Imu | base_link |
| Int Ball2 | cam_onboard | Camera | base_link/camera_onboard |
| Apollo Lander | imu_robot | Imu | base |
| Apollo Lander | cam_onboard | Camera | base/camera_onboard |
| Peregrine Lander | imu_robot | Imu | base |
| Peregrine Lander | cam_onboard | Camera | base/camera_onboard |
| Vikram Lander | imu_robot | Imu | base |
| Vikram Lander | cam_onboard | Camera | base/camera_onboard |
| Resilience Lander | imu_robot | Imu | base |
| Resilience Lander | cam_onboard | Camera | base/camera_onboard |
| Random Lander | imu_robot | Imu | base |
| Random Lander | cam_onboard | Camera | base/camera_onboard |
| Iss | imu_robot | Imu | base |
| Iss | cam_onboard | Camera | base/camera_onboard |
| Gateway | imu_robot | Imu | gateway |
| Gateway | cam_onboard | Camera | gateway/camera_onboard |
| Cubesat | imu_robot | Imu | cubesat |
| Cubesat | cam_onboard | Camera | cubesat/camera_onboard |
| Satellite Mockup | imu_robot | Imu | satellite_mockup |
| Satellite Mockup | cam_onboard | Camera | satellite_mockup/camera_onboard |
| Venus Express | imu_robot | Imu | base |
| Venus Express | cam_onboard | Camera | base/camera_onboard |
| Starship | imu_robot | Imu | base |
| Starship | cam_onboard | Camera | base/camera_onboard |
| Super Heavy | imu_robot | Imu | base |
| Super Heavy | cam_onboard | Camera | base/camera_onboard |