Source code for omni.isaac.lab.sensors.sensor_base_cfg
# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from dataclasses import MISSING
from omni.isaac.lab.utils import configclass
from .sensor_base import SensorBase
[docs]@configclass
class SensorBaseCfg:
"""Configuration parameters for a sensor."""
class_type: type[SensorBase] = MISSING
"""The associated sensor class.
The class should inherit from :class:`omni.isaac.lab.sensors.sensor_base.SensorBase`.
"""
prim_path: str = MISSING
"""Prim path (or expression) to the sensor.
.. note::
The expression can contain the environment namespace regex ``{ENV_REGEX_NS}`` which
will be replaced with the environment namespace.
Example: ``{ENV_REGEX_NS}/Robot/sensor`` will be replaced with ``/World/envs/env_.*/Robot/sensor``.
"""
update_period: float = 0.0
"""Update period of the sensor buffers (in seconds). Defaults to 0.0 (update every step)."""
history_length: int = 0
"""Number of past frames to store in the sensor buffers. Defaults to 0, which means that only
the current data is stored (no history)."""
debug_vis: bool = False
"""Whether to visualize the sensor. Defaults to False."""