Sensors

Overview

Maurice features a comprehensive sensor suite consisting of three primary sensors:

Forward-Facing RGBD Camera

• High-quality depth perception with 7.5cm stereo baseline

• 150° diagonal field of view

• Effective depth range: 40cm - 6m

• Depth accuracy: <2% error up to 3.5m, <4% to 6.5m, <6% to 9m

• Global shutter for improved motion handling

• 1MP resolution (1280x800) at up to 120 FPS

Gripper-Mounted RGB Camera

• 160° diagonal field of view

• 2MP resolution (1920x1080)

• Enhanced low-light performance (0.001 Lux minimum illumination)

• 30 FPS at full resolution

• Ideal for close-range manipulation tasks and visual servoing

2D LiDAR

• 360° scanning coverage

• Range: 0.15m - 12m

• Angular resolution: ≤1°

• Distance resolution: <0.5mm

• Scan rate: 5.5Hz

• Primary sensor for SLAM and navigation

This sensor configuration enables robust environmental perception, precise manipulation, and reliable navigation through complementary sensing modalities. Each sensor's data can be accessed and processed through the Innate SDK.

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CLI Access

Stream Sensor Data

View live sensor data streams in a visualization window:

# Stream RGBD camera
innate sensor play rgbd
# Shows color and depth streams in separate windows# Stream gripper camera
innate sensor play gripper
# Shows color stream from gripper camera# Stream LiDAR data
innate sensor play lidar
# Shows 2D scan visualization

Capture Sensor Data

Save sensor data snapshots to file:

# Capture RGBD data
innate sensor capture rgbd
# Saves color image as {timestamp}_rgb.png and depth as {timestamp}_depth.png# Capture gripper camera image
innate sensor capture gripper
# Saves image as {timestamp}_gripper.png# Capture LiDAR scan
innate sensor capture lidar
# Saves scan data as {timestamp}_scan.txt

By default, captures are saved in the current working directory. Use the optional --output flag to specify a different save location:

innate sensor capture rgbd --output /path/to/directory

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Python SDK

Setup

from innate import sensors
sensors.init()

RGBD Camera

# Get current RGBD data
rgb_image, depth_image = sensors.get_rgbd()
# Returns:#   rgb_image: PIL.Image - RGB image (1280x800)#   depth_image: PIL.Image - 16-bit depth image (1280x800)

Gripper Camera

# Get current gripper camera image
gripper_image = sensors.get_gripper()
# Returns: PIL.Image - RGB image (1920x1080)

LiDAR

# Get current LiDAR scan
scan = sensors.get_lidar()
# Returns: numpy.ndarray - Array of distances in meters# Length: 360 elements (one per degree)

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Custom Sensors

Maurice provides two powered USB 3.0 ports for connecting additional sensors and peripherals.

Port Specifications

• 2x USB 3.0 ports

• Power output: 1.2 Amps per port

• Data transfer rate: Up to 5 Gbps

• Hot-swappable

• Full compatibility with USB 2.0 devices

Custom Sensor Integration Users can integrate additional sensors to enhance Maurice's perception capabilities. When adding custom sensors, ensure:

• Sensor drivers are compatible with NVIDIA Jetpack 6

• Drivers are properly installed on Ubuntu 22.04

• Power requirements fall within the 1.2 Amp limit per port

Custom sensors can enhance Maurice's capabilities for specific tasks such as:

• Higher resolution imaging

• Specialized environmental sensing

• Additional viewpoints

• Task-specific measurements

• Extended range detection