Sensors

Competitors can place sensors anywghere in the environment. Sensors have no collision so they can overlap if necessary. Each sensor has a cost that factors into the final score.

Sensor Costs

Sensor Type	Cost
`break_beam`	$100
`proximity`	$100
`laser_profiler`	$200
`lidar`	$300
`rgb_camera`	$300
`rgbd_camera`	$500
`basic_logical_camera`	$500
`advanced_logical_camera`	$2000

Sensor Types

Break Beam

The break beam sensor reports when a beam is broken by an object. It does not provide distance information.

break beam

Proximity

The proximity sensor outputs how far an object is from the sensor.

proximity

Laser Profiler

The laser profiler provides an array of distances to a sensed object.

laser profiler

Lidar

The LIDAR sensor provides a point cloud of detected objects.

lidar

RGB Camera

The RGBD camera provides an RGB image.

RGBD Camera

The RGBD camera provides an RGB image and a depth image.

Basic Logical Camera

The basic logical camera provides a list of kit tray poses and a list of part poses. The type and the color of an object are not reported by this sensor.

Advanced Logical Camera

The advanced logical camera reports the pose, the type, and the color of a detected object.

Sensor Configuration File

Sensors are configured using a YAML file. See the Configuration Files page for more information on how to configure the competition environment with sensors.