🎯 核心模块

核心模块是 MotrixSim 的主要用户接口，提供了构建和运行物理仿真的基础功能。

🔧 主要功能

• 模型管理：MJCF/URDF 模型加载与解析

• 仿真控制：时间步进、状态管理、运动学计算

• 组件访问：Body、Joint、Sensor 等组件的访问

🚀 应用场景

• 机器人控制：机械臂轨迹规划、四足机器人步态控制、人形机器人运动控制等

• 强化学习：智能体训练、环境仿真、策略验证等

• 物理仿真研究：动力学分析、碰撞检测、多体系统建模等

• 教育教学：机器人学课程、物理实验仿真、虚拟现实等

• 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_joint_dof_pos()
    • Body.get_joint_dof_vel()
    • Body.get_pose()
    • Body.floatingbase
    • Body.is_mocap
    • Body.name
    • 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.index
    • Camera.model
    • Camera.name
    • Camera.near_plane
    • Camera.render_target
  • CameraMgr
    • 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_linear_velocity()
    • Geom.get_pose()
    • Geom.index
    • Geom.model
    • Geom.name
  • Joint
    • Joint.get_dof_pos()
    • Joint.get_dof_vel()
    • Joint.set_dof_pos()
    • Joint.set_dof_vel()
    • Joint.dof_pos_index
    • Joint.dof_vel_index
    • Joint.index
    • Joint.link
    • Joint.link_index
    • Joint.model
    • Joint.name
    • Joint.num_dof_pos
    • Joint.num_dof_vel
  • Link
    • Link.get_angular_velocity()
    • Link.get_joint()
    • Link.get_linear_velocity()
    • Link.get_pose()
    • Link.joints()
    • Link.set_mass()
    • Link.index
    • Link.joint_indices
    • Link.model
    • Link.name
    • Link.num_joints
  • Options
    • Options.disable_contacts
    • Options.disable_gravity
    • Options.disable_impedance
    • Options.gravity
    • Options.max_iterations
    • Options.solver_tolerance
    • Options.timestep
  • SceneData
    • SceneData.__getitem__()
    • SceneData.get()
    • SceneData.reset()
    • SceneData.set_dof_pos()
    • SceneData.set_dof_vel()
    • SceneData.actuator_ctrls
    • SceneData.dof_pos
    • SceneData.dof_vel
    • SceneData.low
    • 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_contact_query()
    • SceneModel.get_geom()
    • SceneModel.get_geom_index()
    • SceneModel.get_joint()
    • SceneModel.get_joint_index()
    • SceneModel.get_link()
    • SceneModel.get_link_index()
    • SceneModel.get_link_poses()
    • SceneModel.get_sensor_value()
    • SceneModel.get_site()
    • SceneModel.get_site_index()
    • SceneModel.step()
    • 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.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_joints
    • SceneModel.num_links
    • SceneModel.num_sensors
    • SceneModel.num_sites
    • SceneModel.options
    • SceneModel.site_names
    • SceneModel.sites
  • Site
    • Site.get_pose()
    • Site.index
    • Site.local_pos
    • Site.local_quat
    • Site.model
    • Site.name
    • Site.parent_link
  • forward_kinematic()
  • load_mjcf_str()
  • load_model()
  • step()