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sensors

create_sensor(sensor_type, prim_path, name, modalities='all', enabled=True, sensor_kwargs=None, noise_type=None, noise_kwargs=None)

Create a sensor of type @sensor_type with optional keyword args @sensor_kwargs that should be passed to the constructor. Also, additionally send noise of type @noise_type with corresponding keyword args @noise_kwargs that should be passed to the noise constructor.

Parameters:

Name Type Description Default
sensor_type str

Type of sensor to create. Should be either one of SENSOR_PRIM_TO_SENSOR.keys() or one of REGISTERED_SENSORS (i.e.: the string name of the desired class to create)

 required
prim_path str

prim path of the Sensor to encapsulate or create.

 required
name str

Name for the sensor. Names need to be unique per scene.

 required
modalities str or list of str

Modality(s) supported by this sensor. Valid options are part of sensor.all_modalities. Default is "all", which corresponds to all modalities being used

 'all'
enabled bool

Whether this sensor should be enabled or not

 True
sensor_kwargs dict

Any keyword kwargs to pass to the constructor

 None
noise_type str

Type of sensor to create. Should be one of REGISTERED_SENSOR_NOISES (i.e.: the string name of the desired class to create)

 None
noise_kwargs dict

Any keyword kwargs to pass to the constructor

 None

Returns:

Name Type Description
BaseSensor

Created sensor with specified params
Source code in omnigibson/sensors/__init__.py 
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def create_sensor(
        sensor_type,
        prim_path,
        name,
        modalities="all",
        enabled=True,
        sensor_kwargs=None,
        noise_type=None,
        noise_kwargs=None
):
    """
    Create a sensor of type @sensor_type with optional keyword args @sensor_kwargs that should be passed to the
    constructor. Also, additionally send noise of type @noise_type with corresponding keyword args @noise_kwargs
    that should be passed to the noise constructor.

    Args:
        sensor_type (str): Type of sensor to create. Should be either one of SENSOR_PRIM_TO_SENSOR.keys() or
            one of REGISTERED_SENSORS (i.e.: the string name of the desired class to create)
        prim_path (str): prim path of the Sensor to encapsulate or create.
        name (str): Name for the sensor. Names need to be unique per scene.
        modalities (str or list of str): Modality(s) supported by this sensor. Valid options are part of
            sensor.all_modalities. Default is "all", which corresponds to all modalities being used
        enabled (bool): Whether this sensor should be enabled or not
        sensor_kwargs (dict): Any keyword kwargs to pass to the constructor
        noise_type (str): Type of sensor to create. Should be one of REGISTERED_SENSOR_NOISES
            (i.e.: the string name of the desired class to create)
        noise_kwargs (dict): Any keyword kwargs to pass to the constructor

    Returns:
        BaseSensor: Created sensor with specified params
    """
    # Run basic sanity check
    assert isinstance(sensor_type, str), "Inputted sensor_type must be a string!"

    # Grab the requested sensor class
    if sensor_type in SENSOR_PRIMS_TO_SENSOR_CLS:
        sensor_cls = SENSOR_PRIMS_TO_SENSOR_CLS[sensor_type]
    elif sensor_type in REGISTERED_SENSORS:
        sensor_cls = REGISTERED_SENSORS[sensor_type]
    else:
        # This is an error, we didn't find the requested sensor ):
        raise ValueError(f"No sensor found with corresponding sensor_type: {sensor_type}")

    # Create the noise, and sanity check to make sure it's a valid type
    noise = None
    if noise_type is not None:
        assert_valid_key(key=noise_type, valid_keys=REGISTERED_SENSOR_NOISES, name="sensor noise type")
        noise_kwargs = dict() if noise_kwargs is None else noise_kwargs
        noise = REGISTERED_SENSOR_NOISES[noise_type](**noise_kwargs)

    # Create the sensor
    sensor_kwargs = dict() if sensor_kwargs is None else sensor_kwargs
    sensor = sensor_cls(
        prim_path=prim_path,
        name=name,
        modalities=modalities,
        enabled=enabled,
        noise=noise,
        **sensor_kwargs,
    )

    return sensor