Sensors

Cameras are IsaacLab config inputs. A task scene cfg activates the robot-mounted camera it needs; IsaacLab owns sensor creation, rendering, buffers, and runtime tensor reads. GalbotG1-PickCube-v0, GalbotG1-PickCube-Teleop-v0, and GalbotG1-PickToShelf-v0 request camera rendering through task metadata.

Activate a camera

Use the G1 sensor facade inside a task env_cfg.py:

from ioailab.robots.g1 import g1


@configclass
class MySceneCfg(InteractiveSceneCfg):
    robot = ...
    left_wrist_rgb_camera = g1.sensors.camera("left_wrist")
    front_head_rgb_camera = g1.sensors.camera("front_head")

Valid G1 mounts: front_head, left_wrist, right_wrist. The cfgs reuse calibrated mount transforms and intrinsics. There are no runtime camera-size or data-type flags; for custom non-G1 cameras, use IsaacLab camera cfgs directly.

Read at runtime

from ioailab.envs import make_env

env = make_env("GalbotG1-PickCube-Teleop-v0", num_envs=1)
env.reset()
left_rgb = env.scene["left_wrist_rgb_camera"].data.output["rgb"]
head_rgb = env.scene["front_head_rgb_camera"].data.output["rgb"]

GalbotG1-PickCube-Teleop-v0 owns the left-wrist and front-head RGB cameras and records them through its MDP observation cfg during recorder-backed collection. Use ioailab.utils.rerun_utils for optional Rerun viewer/URL helpers around recorded streams, outside task sensor cfgs. When depth is enabled on a custom camera, IsaacLab exposes it via keys such as distance_to_image_plane.