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 sensors.

Parameters:

Methods

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

Attributes

name

kind

dim

body_name

site_pos

site_quat

name: str
kind: str
dim: int
body_name: str
site_pos: tuple[float, ...] | None
site_quat: tuple[float, ...] | None
__init__(name, kind, dim, body_name, site_pos, site_quat)
Parameters: