code: def sensor(sensor_type, cfg):
          
          sensor_type = sensor_type.lower()
          if sensor_type == 'real':
              s = Kinect2Sensor(packet_pipeline_mode=cfg['pipeline_mode'],
                                device_num=cfg['device_num'],
                                frame=cfg['frame'])
          elif sensor_type == 'virtual':
              s = VirtualKinect2Sensor(cfg['image_dir'],
                                       frame=cfg['frame'])
          elif sensor_type == 'bridged':
              s = KinectSensorBridged(quality=cfg['quality'], frame=cfg['frame'])
          else:
              raise ValueError('Kinect2 sensor type %s not supported' %(sensor_type))
          return s
docs: Creates a Kinect2 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