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novaphy.sensors

Sensor framework for extracting observations from a Model + SimState. Sensors follow an init → update → read pattern and operate on named or indexed model sites.

from novaphy import sensors

imu = sensors.SensorIMU(model, sites="imu_*")
imu.update(state, dt=dt)
acc = imu.accelerometer  # numpy (N, 3)

Classes

Class Description
SensorContact Contact-force / torque observations from Contacts.
SensorFrameTransform World / body-frame transform readings for sites.
SensorIMU Inertial measurement unit attached to model sites.

Compatibility Notes

The following Newton sensors are not yet provided:

  • DepthSensor (raycast-based depth image sensor)
  • TiledCameraSensor (Warp tiled raytraced rendering across multiple worlds)

Newton uses the XxxSensor naming style; NovaPhy uses SensorXxx.