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unilab.base.backend.motrix.scene

Functions

add_motrix_tracking_frame_sensors(world, *, ...)	Add Motrix-native frame sensors matching the legacy tracking sensor contract.
materialize_motrix_hfield_attached_scene(*, ...)	Build a MotrixSim model with generated hfield terrain and attached robot.
materialize_motrix_scene(*, model_file[, ...])	Build a MotrixSim model through MSD scene composition.

unilab.base.backend.motrix.scene.add_motrix_tracking_frame_sensors(world, *, base_name)

Add Motrix-native frame sensors matching the legacy tracking sensor contract.

Parameters:

• world (World)

• base_name (str)

Return type:

None

unilab.base.backend.motrix.scene.materialize_motrix_scene(*, model_file, fragment_files=(), add_body_sensors=False, base_name='base')

Build a MotrixSim model through MSD scene composition.

Parameters:

• model_file (str)

• fragment_files (Sequence[str])

• add_body_sensors (bool)

• base_name (str)

Return type:

SceneModel

unilab.base.backend.motrix.scene.materialize_motrix_hfield_attached_scene(*, model_file, terrain_cfg, fragment_files=(), hfield_name='terrain_hfield', geom_name='floor', add_body_sensors=False, base_name='base', return_surface_sampler=False)

Build a MotrixSim model with generated hfield terrain and attached robot.

Parameters:

• model_file (str)

• terrain_cfg (TerrainGeneratorCfg)

• fragment_files (Sequence[str])

• hfield_name (str)

• geom_name (str)

• add_body_sensors (bool)

• base_name (str)

• return_surface_sampler (bool)

Return type:

tuple[SceneModel, ndarray] | tuple[SceneModel, ndarray, object]