unisim.backend.motrix.scene

Functions

add_tracking_frame_sensors(world, *, base_name)

Add Motrix-native frame sensors matching the model-file tracking sensor contract.

materialize_expanded_scene_with_sensor_inventory(*, ...)

Import an expanded source and retain its cold-path sensor inventory.

materialize_hfield_attached_scene(*, ...[, ...])

Build a MotrixSim model with generated hfield terrain and attached robot.

materialize_hfield_attached_scene_with_sensor_inventory(*, ...)

Build a Motrix terrain model and return its cold-path sensor inventory.

materialize_scene(*, model_file[, ...])

Build a MotrixSim model through MSD scene composition.

materialize_scene_with_sensor_inventory(*, ...)

Build a Motrix model and return its validated cold-path sensor inventory.
unisim.backend.motrix.scene.materialize_expanded_scene_with_sensor_inventory(*, model_file, add_body_sensors, base_name, mesh_variant_sets=None, geom_variant_sets=None)[source]

Import an expanded source and retain its cold-path sensor inventory.

Parameters:
Return type:

tuple[SceneModel, _MotrixSensorInventory]

unisim.backend.motrix.scene.add_tracking_frame_sensors(world, *, base_name)[source]

Add Motrix-native frame sensors matching the model-file 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.

Parameters:

  • world (World)

  • base_name (str)

Return type:

None

unisim.backend.motrix.scene.materialize_scene_with_sensor_inventory(*, model_file, fragment_files=(), add_body_sensors=False, base_name='base')[source]

Build a Motrix model and return its validated cold-path sensor inventory.

Parameters:
Return type:

tuple[SceneModel, tuple[str, ...], tuple[str, ...]]

unisim.backend.motrix.scene.materialize_scene(*, model_file, fragment_files=(), add_body_sensors=False, base_name='base')[source]

Build a MotrixSim model through MSD scene composition.

Parameters:
Return type:

SceneModel

unisim.backend.motrix.scene.materialize_hfield_attached_scene_with_sensor_inventory(*, model_file, terrain_cfg, fragment_files=(), hfield_name='terrain_hfield', geom_name='floor', add_body_sensors=False, base_name='base', return_surface_sampler=False)[source]

Build a Motrix terrain model and return its cold-path sensor inventory.

Parameters:
Return type:

tuple[SceneModel, ndarray, object | None, tuple[str, ...], tuple[str, ...]]

unisim.backend.motrix.scene.materialize_hfield_attached_scene(*, model_file, terrain_cfg, fragment_files=(), hfield_name='terrain_hfield', geom_name='floor', add_body_sensors=False, base_name='base', return_surface_sampler=False)[source]

Build a MotrixSim model with generated hfield terrain and attached robot.

Parameters:
Return type:

tuple[SceneModel, ndarray] | tuple[SceneModel, ndarray, object]