mani_skill.sensors.base_sensor#

Classes#

BaseSensor

Base class for all sensors

BaseSensorConfig

Module Contents#

class mani_skill.sensors.base_sensor.BaseSensor(config)[source]#

Base class for all sensors

Parameters:

config (BaseSensorConfig) –

capture()[source]#

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.

Return type:

None

abstract get_images()[source]#

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.

Return type:

torch.Tensor

abstract get_obs(**kwargs)[source]#

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

abstract get_params()[source]#

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

Return type:

dict

setup()[source]#

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

Return type:

None

config[source]#
property uid[source]#
class mani_skill.sensors.base_sensor.BaseSensorConfig[source]#
uid: str[source]#