User Guide

Getting Started

• 🛠️ Install Python SDK
• 🚀 Quick Start: Hello MotrixSim
• MotrixSim Web Viewer
• 📖 MJCF XML Reference

Comparison & Examples

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

Main Features

• 🏗️ Model (SceneModel)
• 💾 Data (SceneData)
• 🔨 Model Building
• ⚙️ Global Settings (Options)
• ​🔀 Multi-Environment Parallel Simulation
• 🦾 Inverse Kinematics (IK)
• 🎯 Operational Space Controller (OSC)
• 🎨 Renderer (RenderApp)
• 🎮 Interactive Viewer

Kinematics

• 🤖 Rigid Body (Body)
  • MJCF Mapping
  • API Reference
• 🛸 Floating Base
  • MJCF Mapping
  • Accessing FloatingBase
  • API Reference
• 🔩 Joint
  • Joint Types
  • Configuration Example
  • API Usage Example
  • API Reference
• 📏 Link
  • MJCF Mapping
  • Main Interfaces
  • Example
  • API Reference
• 🔷 Geometry
  • Geometry Types
  • Main Interfaces
  • Example
• 🔋 Actuators
  • Actuator Example
• 🌡️ Sensor
  • 📋 Sensor Overview Table
  • 🚀 Quick Start
• 📍 Site
  • Overview
  • Usage and Examples
  • Defining Site in MJCF
  • Notes
  • API Reference

Render

• 📷 Camera
• 🖼️ Widget Components