User Guide

Getting Started

• 🛠️ Install Python SDK
• 🚀 Quick Start: Hello MotrixSim
• 🤖 AI Agent Skill
• 🌐 WebViewer
• 📖 MJCF XML Reference
• USD Reference

Comparison & Examples

• 🛠️ Environment Setup
• 📚 Example Programs
• ⚖️ Case Comparison
• 🦿 Legged Gym

Main Features

• 🏗️ Model
• 💾 Data
• 🔨 Programmatic Model Building
• ACD Convex Decomposition
• ⚙️ Global Settings (Options)
• ​🔀 Multi-Environment Parallel Simulation
• 🎲 Parameter Randomization
• 🦾 Inverse Kinematics (IK)
• 🎯 Operational Space Controller (OSC)
• 🎨 Renderer
• 🎮 Interactive Viewer

Render

• High-Quality Rendering
• 📷 Camera
• 🖼️ Widget Components
• ✨ 3DGS Support
• 🖥️ CPU Software Rendering on GPU-less Machines