🔨 模型构建模块#
MotrixSim 提供程序化模型构建 API，支持在仿真前加载、变换和组合多个模型。
主要功能#
模型加载：支持 MJCF/URDF/MSD 格式
模型组合：将多个模型附加到一起
变换操作：设置平移、旋转、名称前缀/后缀
应用场景#
多机器人场景构建
动态组装末端执行器
运行时模型组合
motrixsim.msdActuatorActuatorTargetActuatorTypeAlphaModeAmbientLightAssetSpecsBiasTypeBodyBuildinAttrCameraCoACDApxModeCoACDConfigCoACDConfig.apx_modeCoACDConfig.decimateCoACDConfig.extrudeCoACDConfig.extrude_marginCoACDConfig.max_ch_vertexCoACDConfig.max_convex_hullCoACDConfig.mcts_iterationCoACDConfig.mcts_max_depthCoACDConfig.mcts_nodesCoACDConfig.mergeCoACDConfig.pcaCoACDConfig.prep_resolutionCoACDConfig.preprocess_modeCoACDConfig.real_metricCoACDConfig.sample_resolutionCoACDConfig.seedCoACDConfig.threshold
CoACDPreprocessModeCollisionIgnoresCollisionMaskColorSpaceCompileOptionsConnectConstraintTypeConstraintForceModelContactMatchContactSensorContactSensorReduceContactSensorReportConvexStrategyDampingTypeDirectionalLightDescDynTypeDynamicTextureDescEqualityConnectEqualityConstraintSetEqualityJointEqualityWeldForceOverrideFrameSensorFrameSensorRefFrameSensorTypeFreeCameraFreeJointFrequencyDampingRatioGainTypeGeneralParamGeomVisualAttrsGeometryHFieldSourceHFieldSourceTypeHeadLightHierarchyImpedanceImpedanceSpringInertiaIntegratorMethodJointJointSensorJointSensorTypeJointTendonJointTendonNodeJointTypeKeyframeLayerLightLightTypeLinkMarkMaterialMaterial.alpha_modeMaterial.both_sideMaterial.cast_shadowMaterial.colorMaterial.depth_biasMaterial.detail_repeatMaterial.detail_strengthMaterial.emissiveMaterial.emissive_intensityMaterial.flip_tangent_uMaterial.flip_tangent_vMaterial.iorMaterial.layersMaterial.metallicMaterial.nameMaterial.reflectanceMaterial.roughnessMaterial.specular_colorMaterial.tex_originMaterial.tex_repeatMaterial.tex_translationMaterial.tex_uniformMaterial.texture_nameMaterial.transmisive
MaterialRoleMeshDataMeshSourceMeshTransformObjectTypePhysicsMaterialPointLightDescPositionParamPositionTrackProbeRangeRotationTrackSceneStatisticSensorSetShapeFitShapeTypeSimulateOptionSimulateOption.coacd_strategySimulateOption.constraint_solver_iterationsSimulateOption.constraint_solver_toleranceSimulateOption.convex_strategySimulateOption.disable_actuatorsSimulateOption.disable_constraintsSimulateOption.disable_contactsSimulateOption.disable_dampingSimulateOption.disable_equalitySimulateOption.disable_frictionlossSimulateOption.disable_gravitySimulateOption.disable_limitSimulateOption.friction_modelSimulateOption.gravitySimulateOption.override_contact_forceSimulateOption.override_contact_marginSimulateOption.override_frictionSimulateOption.runtime_max_convex_hulls_per_meshSimulateOption.safty_damping_clampSimulateOption.solver_typeSimulateOption.timestep
SiteSiteShapeSkyboxLayoutSolverTypeSpotLightDescSpringDampCoeffSpringDamperSpringLengthTypeStiffnessDampingSubtreeSensorSubtreeSensorTypeTexcoordOriginTextureTextureSourceTextureTypeToneMappingToneMappingMethodTouchSensorTrackModeVisualVisual.ambient_lightVisual.bv_colorVisual.contact_force_colorVisual.disable_near_clipVisual.env_map_intensityVisual.fog_colorVisual.fog_endVisual.fog_startVisual.hazeVisual.head_lightVisual.joint_colorVisual.no_frustum_cullVisual.oitVisual.probesVisual.shadow_sizeVisual.ssaoVisual.ssgiVisual.tonemappingVisual.z_farVisual.z_near
WeldConstraintTypeWorldWorld.add_ground_plane()World.attach()World.deepcopy()World.actuatorsWorld.assetsWorld.collision_ignoresWorld.compile_optionsWorld.equality_constraint_setWorld.free_cameraWorld.hierarchyWorld.keyframesWorld.nameWorld.sensorsWorld.simulate_optionWorld.source_pathWorld.statisticWorld.tendon_setWorld.visual
build()from_file()from_msgpack()from_str()