omni.isaac.lab.sensors.sensor_base_cfg 源代码

# 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


@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."""