Sensor class
Wrapper around a C++ habitat_sim.Sensor that manages observation buffers, noise models, and render target binding.
Methods
- def _initialize_sensor(self) -> None
- Allocate buffers and initialize the noise model.
- def close(self) -> None
- Release references held by this wrapper.
- def draw_observation(self) -> None
- Render this sensor’s observation to the framebuffer.
- def get_observation(self) -> typing.Union[numpy.ndarray, torch.Tensor]
- Read the rendered observation from the framebuffer and apply the noise model.
- def get_observation_async(self) -> typing.Union[numpy.ndarray, torch.Tensor]
- Read the observation after an async render completes.
- def render_async(self) -> None
- Enqueue this sensor’s draw job for async rendering.
Special methods
- def __format__(self, format_spec, /)
- Default object formatter.
- def __init__(self, sim: SimulatorBackend, sensor_object: hsim.Sensor)
Properties
- node: SceneNode get
- The leaf SceneNode this sensor is attached to.
- sensor_object: hsim.Sensor get
- The underlying C++ Sensor object.
- spec: sensor.SensorSpec get
- The SensorSpec that configured this sensor.
- uuid: str get
- The unique identifier for this sensor (from its SensorSpec).
Data
- buffer: typing.Union[numpy.ndarray, torch.Tensor] = None
Method documentation
def habitat_sim.
Default object formatter.
Return str(self) if format_spec is empty. Raise TypeError otherwise.