Custom sensorsim environment

[DavideA]

Hi,
and thank you for sharing your work.

Is there a tutorial on how to write a custom sensorsim environment starting from the protobuf definitions? The overall design seems to allow for a custom container, but I couldn't find any example for creating a new sensorsim specifically.

Thanks!

[maximilianigl]

No, there unfortunately isn't a tutorial yet. We're working on making this easier by simplifying the API, but we're not there yet.

But yes, one can swap the container out - this was one of the design goals of AlpaSim. I assume you already have a renderer that you'd want to use?

[mwatson-nvidia]

+1 to what Max said. Also, this might be a good starting point:
https://github.com/NVlabs/alpasim/blob/main/docs/TUTORIAL.md#custom-container-images