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


[文档]@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."""