There is a walk-through jupyter notebook that you could look at for starters, it goes through the main components of nupic including several encoders, spatial pooling, temporal memory, model parameters and anomaly scores.
Here’s a link to info on the encoders, including ones that handle scalars, date/times, spatial locations and categories (and variations thereof).
It sounds like at least some of the inputs you mentioned would fit into these categories, I’d imagine the Accelerometers, Barometric pressure, Temp, Altitude and Humidity are essentially scalars, though I don’t think there’s anything in place for audio, camera feed or light. Here are two HTM school videos on encoders as well. I’d check these out to get a clear intuition for what encoders really do. With this understanding its possible to design your own custom encoder for these data types that nupic hasn’t handled yet - something many of us would be very interested to see!