unisim.backend.genesis.materialization.prepare_genesis_portable_sources

unisim.backend.genesis.materialization.prepare_genesis_portable_sources(mujoco, scene, layout)[source]

Normalize common portable sources into independent Genesis MJCF files.

The common compiler remains the sole layout, identity, and source relationship authority. This owner adapter only serializes each already normalized MjSpec and scans the resulting source for native binding.

Parameters:

  • mujoco (Any)

  • scene (SceneCfg)

  • layout (Any)

Return type:

GenesisPortableSources