internutopia.core.sensor#

sensor#

class internutopia.core.sensor.sensor.BaseSensor(config: SensorCfg, robot: BaseRobot, scene: IScene)[source]#

Base class of sensor.

cleanup()[source]#

Operations that need to be cleaned up before switching scenes (or resetting)

abstract get_data() → OrderedDict[source]#

Get data from sensor.

Returns:

data dict of sensor.

Return type:

Dict

post_reset()[source]#

Post reset operations.

classmethod register(name: str)[source]#

Register an sensor class with the given name(decorator).

Parameters:

name (str) – name of the sensor

restore_sensor_info()[source]#

Restores the sensor information from a saved state or configuration.

internutopia.core.sensor.sensor.create_sensors(robot_cfg: RobotCfg, robot: BaseRobot, scene: IScene) → OrderedDict[str, BaseSensor][source]#

Create all sensors of one robot.

Parameters:

  • robot_cfg (RobotCfg) – config of the robot.

  • robot (BaseRobot) – robot instance.

  • scene (Scene) – scene from isaac sim.

Returns:

dict of sensors with sensor name as key.

Return type:

Dict[str, BaseSensor]