simulo.IMU

Inertial Measurement Unit sensor.

Measures linear acceleration and angular velocity of a body. Commonly mounted on robot base for state estimation.

Attributes:

• offset — Sensor offset relative to parent frame

Example:

import simulo

imu = simulo.IMU(
    offset=simulo.SensorOffset(pos=(0, 0, 0.1)),
)
scene.add(imu, at="/World/Robot/base/imu")

# Read data
accel = imu.read_linear_acceleration()  # (num_envs, 3)
gyro = imu.read_angular_velocity()      # (num_envs, 3)

simulo.IMU(
    path: Optional[str] = None,
    offset: Optional[SensorOffset] = None,
    update_period: float = 0.0,
    enabled: bool = True,
    debug_vis: bool = False,
)

read_linear_acceleration()

IMU.read_linear_acceleration() -> torch.Tensor

Get linear acceleration in sensor frame.

Returns:

Acceleration tensor of shape (num_envs, 3). Values are float32 in m/s^2.

Raises:

• RuntimeError — If sensor not initialized

read_angular_velocity()

IMU.read_angular_velocity() -> torch.Tensor

Get angular velocity in sensor frame.

Returns:

Angular velocity tensor of shape (num_envs, 3). Values are float32 in rad/s.

Raises:

• RuntimeError — If sensor not initialized

read_orientation()

IMU.read_orientation() -> torch.Tensor

Get orientation quaternion in world frame.

Returns:

Orientation tensor of shape (num_envs, 4). Quaternion in (w, x, y, z) format.

Raises:

• RuntimeError — If sensor not initialized