docs: def sensor(sensor_type, cfg):
          """ Creates a camera sensor of the specified type.
  
          Parameters
          ----------
          sensor_type : :obj:`str`
              the type of the sensor (real or virtual)
          cfg : :obj:`YamlConfig`
              dictionary of parameters for sensor initialization
          """
          sensor_type = sensor_type.lower()
          if sensor_type == 'kinect2':
              s = Kinect2Sensor(packet_pipeline_mode=cfg['pipeline_mode'],
                                device_num=cfg['device_num'],
                                frame=cfg['frame'])
          elif sensor_type == 'bridged_kinect2':
              s = KinectSensorBridged(quality=cfg['quality'], frame=cfg['frame'])
          elif sensor_type == 'primesense':
              flip_images = True
              if 'flip_images' in cfg.keys():
                  flip_images = cfg['flip_images']
              s = PrimesenseSensor(auto_white_balance=cfg['auto_white_balance'],
                                   flip_images=flip_images,
                                   frame=cfg['frame'])
          elif sensor_type == 'virtual':
              s = VirtualSensor(cfg['image_dir'],
                                frame=cfg['frame'])
          elif sensor_type == 'tensor_dataset':
              s = TensorDatasetVirtualSensor(cfg['dataset_dir'],
                                             frame=cfg['frame'])
          elif sensor_type == 'primesense_ros':
              s = PrimesenseSensor_ROS(frame=cfg['frame'])
          elif sensor_type == 'ensenso':
              s = EnsensoSensor(frame=cfg['frame'])
          elif sensor_type == 'phoxi':
              s = PhoXiSensor(frame=cfg['frame'],
                              device_name=cfg['device_name'],
                              size=cfg['size'])
          elif sensor_type == 'webcam':
              s = WebcamSensor(frame=cfg['frame'],
                               device_id=cfg['device_id'])
          elif sensor_type == 'colorized_phoxi':
              s = ColorizedPhoXiSensor(frame=cfg['frame'], phoxi_config=cfg['phoxi_config'],
                                       webcam_config=cfg['webcam_config'], calib_dir=cfg['calib_dir'])
          elif sensor_type == 'realsense':
              s = RealSenseSensor(
                  cam_id=cfg['cam_id'],
                  filter_depth=cfg['filter_depth'],
                  frame=cfg['frame'],
              )
          else:
              raise ValueError('RGBD sensor type %s not supported' %(sensor_type))
          return s