API Reference

MotrixSim is a high-performance physics simulation engine that provides a comprehensive Python API for robotics simulation, physical modeling, and real-time rendering.

🚀 Quick Start

API Quick Reference - Summarizes commonly used APIs grouped by functionality to help you quickly locate the required interfaces

📋 API Architecture

The MotrixSim API is designed with a layered architecture to meet the needs of different users:

Layer	Module	Features	Application Scenarios
Core	motrixsim	Simple, user-friendly API	Robot control, reinforcement learning
Model Building	motrixsim.msd	Programmatic model combining	Multi-robot scenes, dynamic model assembly
Rendering	motrixsim.render	Real-time rendering, interactive UI	Simulation visualization, debugging and analysis
IK Module	motrixsim.ik	Efficient solving, easy to use	Inverse kinematics solving
OSC Module	motrixsim.osc	Task-space control, dynamics decoupling	Operational space control, torque-based robot control

📚 Detailed Module Documentation

• 🚀 API Quick Reference
• 🎯 Core Module
  • motrixsim
• 🔨 Model Building Module
  • motrixsim.msd
• 🎨 Rendering Module
  • motrixsim.render
  • motrixsim.viewer
  • motrixsim.render.widgets
• motrixsim.render.widgets
• 🦾 IK Module
  • motrixsim.ik
• 🎯 OSC Module
  • motrixsim.osc