robot-perception

# Robot Perception Skill ## When to Use This Skill - Setting up and configuring camera, LiDAR, or depth sensors - Building RGB, depth, or point cloud processing pipelines - Calibrating cameras (intrinsic, extrinsic, hand-eye) - Implementing object detection, segmentation, or tracking for robots - Fusing data from multiple sensor modalities - Streaming sensor data with proper threading and buffering - Synchronizing multi-sensor rigs - Deploying perception models on robot hardware (GPU, edge) - Debugging perception failures (latency, dropped frames, misalignment) ## Sensor Landscape ### Sensor Types and Characteristics ``` Sensor Type Output Range Rate Best For ───────────────────────────────────────────────────────────────────────── RGB Camera (H,W,3) uint8 ∞ 30-120Hz Object detection, tracking, visual servoing Stereo Camera (H,W,3)+(H,W,3) 0.3-20m 30-90Hz Dense depth from passive stereo Structured Light (H,W) float + RGB 0.2-10m 30Hz Indoor manipulation, short range ToF Depth (H,W) float + RGB 0.1-10m 30Hz Indoor, medium range LiDAR (spinning) (N,3) or (N,4) 0.5-200m 10-20Hz Outdoor navigation, mapping LiDAR (solid-st.) (N,3) 0.5-200m 10-30Hz Automotive, outdoor IMU (6,) or (9,) N/A 200-1kHz Orientation, motion estimation Force/Torque (6,) float N/A 1kHz+ Contact detection, force control Tacti...