unisim.backend.genesis.materialization.GenesisSensorPlan

class unisim.backend.genesis.materialization.GenesisSensorPlan[source]

Bases: object

One MJCF sensor mapped onto a Genesis-readable equivalent.

body_name is the owning link for site sensors and the robot-side geom body for contact sensors. site_pos/site_quat (wxyz) are the local site frame in the body frame; both are None for contact and portable body frame fragment sensors. Contact sensors additionally retain both final geom names and whether the common fragment form is exact pair netforce, so portable validation can bind them without source-model array indices.

Parameters:

Methods

__init__(name, kind, dim, body_name, ...[, ...])

Attributes

contact_geom1_name

contact_geom2_name

contact_netforce

object_kind

name

kind

dim

body_name

object_name

reference_type

reference_id

site_pos

site_quat

name: str
kind: str
dim: int
body_name: str
object_name: str
reference_type: int
reference_id: int
site_pos: tuple[float, ...] | None
site_quat: tuple[float, ...] | None
contact_geom1_name: str | None = None
contact_geom2_name: str | None = None
contact_netforce: bool = False
object_kind: str = 'site'
__init__(name, kind, dim, body_name, object_name, reference_type, reference_id, site_pos, site_quat, contact_geom1_name=None, contact_geom2_name=None, contact_netforce=False, object_kind='site')
Parameters: