⚙️ Global Settings (Options)

Options is the global configuration object in MotrixSim, used to set various parameters for physical simulation. These parameters affect the accuracy, stability, and performance of the simulation.

Basic Concepts

Common configuration parameters include:

Parameter	Description	Default Value
timestep	Simulation time step (seconds)	0.002
gravity	Gravity acceleration [x, y, z]	[0, 0, -9.81]
max_iterations	Max iterations for constraint solver	100

Configuration Methods

XML Configuration

In MJCF files, you can use the <option> tag to configure parameters:

<mujoco>
    <option timestep="0.002" gravity="0 0 -9.81" iterations="100"/>
</mujoco>

Code Configuration

You can access and modify the configuration via the options attribute of SceneModel.

# ---------Try to access options----------
options = model.options
print(f"model.options: {options}")
# Get gravity
gravity = options.gravity  # noqa: F841
# Get timestep
timestep = options.timestep  # noqa: F841
# Get max iterations
max_iterations = options.max_iterations  # noqa: F841
# Get solver tolerance
solver_tolerance = options.solver_tolerance  # noqa: F841
# Get simulation flags
disable_gravity = options.disable_gravity  # noqa: F841
disable_contacts = options.disable_contacts  # noqa: F841
# ----------End----------

# Set gravity
options.gravity = [0, 0, 9.8]

for i in range(50):
    step(model, data)
    render.sync(data)

# Set gravity
options.gravity = [0, 0, -9.8]

for i in range(200):
    step(model, data)
    render.sync(data)

# Set simulation flags
options.disable_contacts = True

For a complete example, see examples/options.py.

API Reference

For more APIs related to Options, see Options API