Sensors

Sensors provide batched measurements of simulation state and camera images.

Choose a sensor

Sensor	Measurement	Typical use
Camera	Renderer-produced color, depth, normals, motion, and segmentation images	Vision observations and synthetic data
Ray Caster	First collision locations for configurable ray patterns	Terrain sensing, lidar-style queries, and ray-cast cameras
Contact Sensor	Net and filtered contact forces, contact points, friction, and contact timing	Locomotion, grasping, and collision events
Frame Transformer	Relative and world poses for configured frames	End-effector, foot, and object tracking
Inertial Measurement Unit (IMU)	Angular velocity and proper linear acceleration	Inertial observations
Pose Velocity Acceleration (PVA) Sensor	Ground-truth pose, velocity, coordinate acceleration, and projected gravity	State estimation and privileged observations
Joint Wrench Sensor	Incoming joint reaction force and torque	Force/torque sensing and contact-rich control

Sampling and data access

All sensors inherit from SensorBase and share these settings and methods:

• prim_path selects the prim or prims measured in every cloned environment.

• update_period sets the sampling period in simulated seconds. A value of 0.0 samples every simulation step.

• update() advances the sensor clock. Sensor data is evaluated lazily when the data property is read, unless recomputation or debug visualization is requested.

• reset() clears per-environment timestamps and internal state.

Set scene.cfg.lazy_sensor_update=False to refresh data during scene.update(dt). Sensors keep their own sampling periods and reset state. Sensors that support batching refresh together; cameras batch captures by renderer.

Sensor data is exposed through ProxyArray buffers, including camera outputs. Use the torch property for a cached zero-copy Torch view or warp for the underlying Warp array.