motrixsim.msd#

Classes:

Scene

A builder for combining and building MSD models.

Functions:

from_file(path)

Load a model file and return an Scene for transformation and building.

from_str(string[, format])

Load string and return an Scene for transformation and building.
class motrixsim.msd.Scene#

基类：object

A builder for combining and building MSD models.

This class provides a simple API for combining multiple models together using attach, then building the final simulation model.

Example:

```text import motrixsim as mx

# Load and build directly model = mx.from_file("robot.xml").build()

# Attach another model with transformations robot = mx.from_file("robot.xml") gripper = mx.from_file("gripper.xml") robot.attach(

gripper, self_link_name="hand", other_prefix="gripper_", other_translation=[0.1, 0, 0]

) model = robot.build()

# Combine multiple instances of the same model (other is cloned internally) scene = mx.from_file("scene.xml") robot = mx.from_file("robot.xml") scene.attach(robot, other_prefix="robot1_", other_translation=[1, 0, 0]) scene.attach(robot, other_prefix="robot2_", other_translation=[2, 0, 0]) model = scene.build() ```

Methods:

attach(other[, self_link_name, ...])

Attach another model to this one.

build()

Build this Scene into a SceneModel ready for simulation.

deepcopy()

Deepcopy this Scene.

Attributes:

name

Get the name of this instance.
attach(other, self_link_name=None, other_link_name=None, other_translation=None, other_rotation=None, other_prefix=None, other_suffix=None)#

Attach another model to this one.

This method merges another Scene into this one. The other model can be optionally attached to a specific link, transformed, and have its names prefixed/suffixed to avoid conflicts.

备注

The other model is cloned internally, so it can be reused for multiple attach calls.

参数:

  • other (Scene) -- The model to attach (cloned internally).

  • self_link_name (str, optional) -- Link in this model to attach to. If None, the other model is merged at the root level.

  • other_link_name (str, optional) -- Extract only this subtree from the other model before attaching.

  • other_translation (list[float], optional) -- Translation [x, y, z] to apply to the other model.

  • other_rotation (list[float], optional) -- Rotation quaternion [x, y, z, w] to apply to the other model.

  • other_prefix (str, optional) -- Prefix to add to all names in the other model (e.g., "left_" to avoid name conflicts).

  • other_suffix (str, optional) -- Suffix to add to all names in the other model.

抛出:

RuntimeError -- If the link is not found or if there are duplicate names.

Example:

```text robot = mx.from_file("robot.xml") gripper = mx.from_file("gripper.xml")

# Attach gripper to robot's hand link with prefix robot.attach(

gripper, self_link_name="hand", other_prefix="gripper_", other_translation=[0.05, 0, 0]

)

# gripper can be reused robot.attach(gripper, self_link_name="other_hand", other_prefix="gripper2_")

model = robot.build() ```

build()#

Build this Scene into a SceneModel ready for simulation.

This compiles all attached models into a single simulation model.

返回:

The compiled simulation model.

返回类型:

SceneModel

抛出:

RuntimeError -- If the build fails.

Example:

```text # Simple build model = mx.from_file("robot.xml").build()

# Build after attaching models robot = mx.from_file("robot.xml") gripper = mx.from_file("gripper.xml") robot.attach(gripper, self_link_name="hand", other_prefix="gripper_") model = robot.build()

data = mx.SceneData(model) ```

deepcopy()#

Deepcopy this Scene.

返回:

A clone of this instance.

返回类型:

Scene

name#

Get the name of this instance.

返回:

The name of the model.

返回类型:

str

motrixsim.msd.from_file(path)#

Load a model file and return an Scene for transformation and building.

参数:

path (str) -- Path to the model file (MJCF, URDF, or MSD format).

返回:

An instance ready for transformation and building.

返回类型:

Scene

motrixsim.msd.from_str(string, format='mjcf')#

Load string and return an Scene for transformation and building.

参数:

  • string (str) -- MJCF/URDF/MSD model string.

  • format (str) -- The format of the model string. One of "mjcf", "urdf", or "msd".

返回:

An instance ready for transformation and building.

返回类型:

Scene