unisim.backend.genesis.materialization.validate_genesis_portable_sensor_plans

unisim.backend.genesis.materialization.validate_genesis_portable_sensor_plans(mujoco, sources, layout, composed_plans)[source]

Bind the bounded portable source and fragment sensor subsets.

Genesis does not import MJCF sensors. Portable support is deliberately limited to entity-owned site FramePos, FrameQuat, Gyro, Velocimeter and identity-orientation Accelerometer declarations whose complete semantic identity is identical in every source variant. The returned plans use qualified public sensor/body names; the backend computes pose/motion values from audited native link state and accelerometer values from a clean public native IMU.

Scene-level fragments are limited further to world-referenced qualified-site and qualified-body FramePos/FrameQuat declarations, world-referenced qualified-site/body FrameLinVel/FrameAngVel declarations, and exact cross-entity geom-pair found/netforce contact declarations. The common compiler appends them after all entity-owned source sensors, so the composed prefix must match the independently audited source plans exactly.

Parameters:
Return type:

tuple[GenesisSensorPlan, ...]