unisim.backend.mjwarp.materialization.materialize_mjwarp_scene¶
- unisim.backend.mjwarp.materialization.materialize_mjwarp_scene(scene, *, add_body_sensors=False)[source]¶
Resolve a flat/fragments scene before CUDA model upload.
Height-field terrain construction is intentionally rejected in the first correctness profile. The rejection happens before model upload so an unsupported owner cannot silently fall back to a different terrain path.
When
add_body_sensorsis set, world-frame body tracking sensors are injected into the resolved model on the cold path (same helper as the MuJoCo backend) so the host profile can serve body kinematics from its per-step sensor cache without extra device transfers.- Parameters:
scene (
SceneCfg)add_body_sensors (
bool)
- Return type: