unisim.backend.motrix.scene.add_motrix_tracking_frame_sensors¶
- unisim.backend.motrix.scene.add_motrix_tracking_frame_sensors(world, *, base_name)[source]¶
Add Motrix-native frame sensors matching the legacy tracking sensor contract.
Only pose sensors are added: body-frame velocities are computed analytically from the world-frame link state (see
MotrixBackend.get_body_*_vel_b), because MotrixSim frame velocity sensors report motion relative to the baselink and degenerate to zero for the root body.