Sensors
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Sensors


Article summary

1. Overview

This controller allows reading most of the Robot's sensors.

UR Robots have two types of sensors, according to the kind of data they output:

  • Continuous sensors: Read variable is a continuous decimal value.
  • Boolean sensors: Read variable is a binary state.

2. List of Sensors

Continuous sensors:

GroupSensorAvailable in simulatorMagnitudeUnitPathExample
Temperature
ThermometerYesTemperature°C
/thermometer31.0
Environment
TemperatureYesTemperature°C
/environment/temperature22.0

Altitude
YesDistancem/environment/altitude
824.0

Humidity
Yes
milli %
/environment/humidity
12.2

Pressure
YesPressure
Pa
/environment/pressure
101.325
Sonar1-Distancem/sonar/110.0

2-Distancem/sonar/22.4

...-.........

11-Distancem/sonar/115.2

12-Distancem/sonar/127.8
Air qualityVolatile Organic Compounds (VOC)-

/airq/voc

CO-

/airq/co

Smoke-

/airq/smoke

LPG-

/airq/lpg
IMUMagnetometer X-Magnetic Field
/imu/mag/x

Magnetometer Y-Magnetic Field
/imu/mag/y

Magnetometer Z-Magnetic Field
/imu/mag/z

Accelerometer X-Accelerationm/s²/imu/lin_acc/x0.22

Accelerometer Y-Accelerationm/s²/imu/lin_acc/y0.12

Accelerometer Z-Accelerationm/s²/imu/lin_acc/z9.78

Gyro X-Angular Velocityrad/s/imu/rot_vel/x0.002

Gyro Y-Angular Velocityrad/s/imu/rot_vel/y0.003

Gyro Z-Angular Velocityrad/s/imu/rot_vel/z0.152

Compass bearing X-Angledegrees/imu/bearing/x

Pitch-Angledegrees/imu/pitch
Health parametersPulse Rate-
beat/minute/health/pulse82

Oxygen-
%/health/oxygen94

Smoke-

/health/smoke

Boolean Sensors:

GroupSensorPathExample
Line Sensor1/line_sensor/1False

2/line_sensor/2True

3/line_sensor/3False

3. Sensors Arrangement

Sensors are arranged around the robot body:


4. Using the Controller

Creating the controller in your app:

from raya.application_base import RayaApplicationBase

class RayaApplication(RayaApplicationBase):
    async def setup(self):
        ...
        self.sensors = await self.enable_controller('sensors')
        ...

The controller class includes a set of methods to synchronously access the sensors:

It also includes the following methods to create listeners that trigger when different events are detected:

Each method page includes standalone examples of how to use them.

5. Full examples

The following full examples use this controller:



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