🎯 Core Module

The core module is the primary user interface of MotrixSim, providing fundamental functions for building and running physical simulations.

🔧 Main Features

• Model Management: Loading and parsing MJCF/URDF models

• Simulation Control: Time stepping, state management, kinematics computation

• Component Access: Access to components such as Body, Joint, Sensor, etc.

🚀 Application Scenarios

• Robotics Control: Robotic arm trajectory planning, quadruped gait control, humanoid motion control, etc.

• Reinforcement Learning: Agent training, environment simulation, policy validation, etc.

• Physics Simulation Research: Dynamics analysis, collision detection, multibody system modeling, etc.

• Education and Teaching: Robotics courses, physics experiment simulation, virtual reality, etc.

• motrixsim
  • Actuator
    • Actuator.get_ctrl()
    • Actuator.set_ctrl()
    • Actuator.ctrl_range
    • Actuator.index
    • Actuator.name
    • Actuator.target_name
    • Actuator.target_type
    • Actuator.typ
  • Body
    • Body.get_dof_pos_indices()
    • Body.get_dof_vel_indices()
    • Body.get_joint_dof_pos()
    • Body.get_joint_dof_vel()
    • Body.get_pose()
    • Body.get_position()
    • Body.get_rotation()
    • Body.get_rotation_mat()
    • Body.set_actuator_ctrls()
    • Body.set_dof_pos()
    • Body.set_dof_vel()
    • Body.actuators
    • Body.base_link
    • Body.floatingbase
    • Body.index
    • Body.is_mocap
    • Body.mocap
    • Body.model
    • Body.name
    • Body.num_actuators
    • Body.num_joint_dof_pos
    • Body.num_joint_dof_vel
    • Body.num_joints
    • Body.num_links
  • Camera
    • Camera.get_pose()
    • Camera.set_near_far()
    • Camera.set_render_target()
    • Camera.depth_only
    • Camera.far_plane
    • Camera.fovy
    • Camera.index
    • Camera.link
    • Camera.model
    • Camera.name
    • Camera.near_plane
    • Camera.position_track
    • Camera.render_target
    • Camera.rotation_track
    • Camera.track_target_link
  • CameraMgr
    • CameraMgr.get_index()
    • CameraMgr.tolist()
    • CameraMgr.cameras
    • CameraMgr.model
  • ContactQuery
    • ContactQuery.is_colliding()
    • ContactQuery.num_contacts
  • DisjointIndices
    • DisjointIndices.size
  • FloatingBase
    • FloatingBase.get_dof_pos()
    • FloatingBase.get_dof_vel()
    • FloatingBase.get_global_angular_velocity()
    • FloatingBase.get_global_linear_velocity()
    • FloatingBase.get_local_angular_velocity()
    • FloatingBase.get_rotation()
    • FloatingBase.get_translation()
    • FloatingBase.set_global_angular_velocity()
    • FloatingBase.set_global_linear_velocity()
    • FloatingBase.set_local_angular_velocity()
    • FloatingBase.set_rotation()
    • FloatingBase.set_translation()
    • FloatingBase.dof_pos_indices
    • FloatingBase.dof_pos_start
    • FloatingBase.dof_vel_indices
    • FloatingBase.dof_vel_start
    • FloatingBase.index
    • FloatingBase.model
    • FloatingBase.name
  • Geom
    • Geom.get_angular_velocity()
    • Geom.get_friction_override()
    • Geom.get_linear_velocity()
    • Geom.get_pose()
    • Geom.set_friction_override()
    • Geom.collision_affinity
    • Geom.collision_group
    • Geom.gap
    • Geom.hfield
    • Geom.index
    • Geom.link
    • Geom.local_pose
    • Geom.margin
    • Geom.model
    • Geom.name
    • Geom.shape
    • Geom.size
  • HField
    • HField.get()
    • HField.bound
    • HField.height_matrix
    • HField.index
    • HField.model
    • HField.name
    • HField.ncol
    • HField.nrow
  • Joint
    • Joint.get_armature_override()
    • Joint.get_dof_pos()
    • Joint.get_dof_vel()
    • Joint.get_frictionloss_override()
    • Joint.set_armature_override()
    • Joint.set_dof_pos()
    • Joint.set_dof_vel()
    • Joint.set_frictionloss_override()
    • Joint.armature
    • Joint.axis
    • Joint.dof_pos_index
    • Joint.dof_vel_index
    • Joint.frictionloss
    • Joint.index
    • Joint.link
    • Joint.link_index
    • Joint.model
    • Joint.name
    • Joint.num_dof_pos
    • Joint.num_dof_vel
    • Joint.range
  • Keyframe
    • Keyframe.apply()
    • Keyframe.ctrl
    • Keyframe.dof_pos
    • Keyframe.dof_vel
    • Keyframe.index
    • Keyframe.model
    • Keyframe.name
    • Keyframe.time
  • Link
    • Link.add_external_force()
    • Link.add_external_torque()
    • Link.get_angular_velocity()
    • Link.get_center_of_mass_override()
    • Link.get_joint()
    • Link.get_linear_velocity()
    • Link.get_mass_override()
    • Link.get_pose()
    • Link.get_position()
    • Link.get_rotation()
    • Link.get_rotation_mat()
    • Link.joints()
    • Link.set_center_of_mass_override()
    • Link.set_mass_override()
    • Link.center_of_mass
    • Link.index
    • Link.joint_indices
    • Link.mass
    • Link.model
    • Link.name
    • Link.num_joints
  • Mocap
    • Mocap.set_pose()
    • Mocap.body
    • Mocap.model
  • Options
    • Options.disable_contacts
    • Options.disable_gravity
    • Options.gravity
    • Options.max_iterations
    • Options.solver_tolerance
    • Options.timestep
  • SceneData
    • SceneData.get()
    • SceneData.reset()
    • SceneData.set_dof_pos()
    • SceneData.set_dof_vel()
    • SceneData.actuator_ctrls
    • SceneData.dof_pos
    • SceneData.dof_vel
    • SceneData.low
    • SceneData.ndim
    • SceneData.shape
  • SceneModel
    • SceneModel.compute_init_dof_pos()
    • SceneModel.forward_kinematic()
    • SceneModel.get_actuator()
    • SceneModel.get_actuator_ctrls()
    • SceneModel.get_actuator_index()
    • SceneModel.get_body()
    • SceneModel.get_body_index()
    • SceneModel.get_camera_poses()
    • SceneModel.get_contact_query()
    • SceneModel.get_geom()
    • SceneModel.get_geom_index()
    • SceneModel.get_hfield()
    • SceneModel.get_hfield_index()
    • SceneModel.get_joint()
    • SceneModel.get_joint_index()
    • SceneModel.get_link()
    • SceneModel.get_link_index()
    • SceneModel.get_link_poses()
    • SceneModel.get_link_rotation_mats()
    • SceneModel.get_sensor_value()
    • SceneModel.get_site()
    • SceneModel.get_site_index()
    • SceneModel.step()
    • SceneModel.step_n()
    • SceneModel.actuator_ctrl_limits
    • SceneModel.actuator_names
    • SceneModel.actuators
    • SceneModel.bodies
    • SceneModel.body_names
    • SceneModel.cameras
    • SceneModel.floating_bases
    • SceneModel.geom_names
    • SceneModel.geoms
    • SceneModel.joint_dof_pos_indices
    • SceneModel.joint_dof_pos_nums
    • SceneModel.joint_dof_vel_indices
    • SceneModel.joint_dof_vel_nums
    • SceneModel.joint_limits
    • SceneModel.joint_names
    • SceneModel.joints
    • SceneModel.keyframes
    • SceneModel.link_names
    • SceneModel.links
    • SceneModel.low
    • SceneModel.num_actuators
    • SceneModel.num_bodies
    • SceneModel.num_dof_pos
    • SceneModel.num_dof_vel
    • SceneModel.num_geoms
    • SceneModel.num_hfields
    • SceneModel.num_joints
    • SceneModel.num_keyframes
    • SceneModel.num_links
    • SceneModel.num_sensors
    • SceneModel.num_sites
    • SceneModel.options
    • SceneModel.site_names
    • SceneModel.sites
  • Shape
    • Shape.type_names()
    • Shape.types()
    • Shape.Capsule
    • Shape.Cuboid
    • Shape.Cylinder
    • Shape.Ellipsoid
    • Shape.HField
    • Shape.InfinitePlane
    • Shape.Mesh
    • Shape.Plane
    • Shape.Sphere
  • Site
    • Site.get_pose()
    • Site.get_position()
    • Site.get_rotation_mat()
    • Site.index
    • Site.local_pos
    • Site.local_quat
    • Site.model
    • Site.name
    • Site.parent_link
  • forward_kinematic()
  • load_mjcf_str()
  • load_model()
  • step()