unisim.backend.mujoco.xml.bind_tracking_sensors

unisim.backend.mujoco.xml.bind_tracking_sensors(model_file, baselink_name=None, tracked_body_names=None)[source]

Bind MuJoCo tracking sensors into a temporary model source.

By default, the generated sensors track every named body in the world frame (_w). tracked_body_names narrows that injection to an exact named-body selection. When baselink_name is selected, sensors in the baselink-relative frame (_b) are added as well.

Return type:

tuple[str, list, list]

Returns:

(tmp_xml_path, tracked_body_ids, valid_bnames)

Parameters: