`motrixsim.msd`#

Classes:

`Camera`([name, position, orientation, ...])
`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_msgpack`(data, base_path)	Load MSD from MessagePack binary data.
`from_str`(string[, format, base_path])	Load string and return an Scene for transformation and building.

class motrixsim.msd.Camera(name=None, position=None, orientation=None, position_track=Ellipsis, rotation_track=Ellipsis, track_target=None, orthographic=False, fovy=45.0, depth_only=False, znear=0.0, zfar=0.0, track_position_speed=0.0, track_rotation_speed=0.0)#

基类：object

Attributes:

`depth_only`
`fovy`
`name`
`orientation`
`orthographic`
`position`
`position_track`
`rotation_track`
`track_position_speed`
`track_rotation_speed`
`track_target`
`zfar`
`znear`

depth_only#

fovy#

name#

orientation#

orthographic#

position#

position_track#

rotation_track#

track_position_speed#

track_rotation_speed#

track_target#

zfar#

znear#

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:

`add_camera`(camera)	Add a camera to the scene.
`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.

add_camera(camera)#

Add a camera to the scene.

This method adds a camera to the scene hierarchy. Cameras added through this method will be available in the built model's camera manager.

参数:: camera (Camera) -- The camera to add to the scene.

备注

Multiple cameras can be added by calling this method multiple times.

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_msgpack(data, base_path)#

Load MSD from MessagePack binary data.

This is more efficient than JSON for large models.

参数:

data (bytes) -- MessagePack binary data.
base_path (str) -- Base path for resolving relative asset paths.

返回:

An instance ready for transformation and building.

返回类型:

Scene

motrixsim.msd.from_str(string, format='mjcf', base_path=None)#

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".
base_path (str, optional) -- Base path for resolving relative asset paths. Required for MSD format to resolve texture and mesh paths.

返回:

An instance ready for transformation and building.

返回类型:

Scene

motrixsim.msd#

`motrixsim.msd`#