mani_skill.sensors.base_sensor
==============================

.. py:module:: mani_skill.sensors.base_sensor


Classes
-------

.. autoapisummary::

   mani_skill.sensors.base_sensor.BaseSensor
   mani_skill.sensors.base_sensor.BaseSensorConfig


Module Contents
---------------

.. py:class:: BaseSensor(config)

   Base class for all sensors


   .. py:method:: capture()

      Captures sensor data and prepares it for it to be then retrieved via get_obs for observations and get_image for a visualizable image.

      Some sensors like rgbd cameras need to take a picture just once after each call to scene.update_render. Generally this should also be a
      non-blocking function if possible.



   .. py:method:: get_images()
      :abstractmethod:


      This returns the data of the sensor visualized as an image (rgb array of shape (B, H, W, 3)). This should not be used for generating agent observations. For example lidar data can be visualized
      as an image but should not be in a image format (H, W, 3) when being used by an agent.



   .. py:method:: get_obs(**kwargs)
      :abstractmethod:


      Retrieves captured sensor data as an observation for use by an agent.



   .. py:method:: get_params()
      :abstractmethod:


      Get parameters for this sensor. Should return a dictionary with keys mapping to torch.Tensor values



   .. py:method:: setup()

      Setup this sensor given the current scene. This is called during environment/scene reconfiguration.



   .. py:attribute:: config


   .. py:property:: uid


.. py:class:: BaseSensorConfig

   .. py:attribute:: uid
      :type:  str