unisim.backend.mujoco.xml.inject_mujoco_tracking_sensors

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

Inject tracking sensors for the MuJoCo backend.

The generated sensors track every body in the world frame (_w). When baselink_name is provided, 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: