How to use sensor

This tutorial will show you how to use an existed sensors of robot

Which sensors are our robots supported

In grutopia/core/robot/robot_model.py, We know Sensors is under RobotModel.

Check grutopia_extension/robots/robot_models.yaml. We find

robots:
  - type: "HumanoidRobot"
    ...
    sensors:
      - name: "camera"  # <- this is sensor name
        prim_path: "relative/prim/path/to/camera"
        type: "Camera"

How to use a sensor

When we run demo/h1_locomotion.py, observation from sensors can be got from obs (obs = env.step(actions=env_actions))

Use them in isaac simulation_app’s step loops.

while env.simulation_app.is_running():
    ...
    obs = env.step(actions)
    task_name = env.config.tasks[0].name
    robot_name = env.config.tasks[0].robots[0].name
    photo = obs[task_name][robot_name]['camera']['rgba']  # here get `camera` data
    ...
env.simulation_app.close()