What are all of the sensors available on the robot?

4 Time of Flight sensors (used for obstacle avoidance) - three on the front and one on back; 6 bump sensors (used to stop in case of a sudden obstacle) - four on the front and two on back; 4 cliff sensors (used to avoid falling down stairs or off tables) - two on the front and two on the back; 6 capacitive touch sensors (to detect human interaction) - in the head and body; the Structure Core from Occipital depth sensor (2 IR cameras, 1 fisheye camera, 1 IMU) ; and a 4K camera (to handle remote video streaming, picture capture and object/face/people detection and recognition). There are 2 IMU sensors (3-axis gyroscope, 3-axis accelerometer) - one in the Occipital sensor and 1 on the robot itself and a 3x far-field microphone array.