🔨 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.msdActuatorActuatorTargetActuatorTypeAlphaModeAmbientLightAssetSpecsBiasTypeBodyBuildinAttrCameraCamera.set_depth_only()Camera.set_fovy()Camera.set_name()Camera.set_orientation()Camera.set_orthographic()Camera.set_position()Camera.set_position_track()Camera.set_rotation_track()Camera.set_track_position_speed()Camera.set_track_rotation_speed()Camera.set_track_target()Camera.set_zfar()Camera.set_znear()Camera.depth_onlyCamera.fovyCamera.nameCamera.orientationCamera.orthographicCamera.positionCamera.position_trackCamera.rotation_trackCamera.track_position_speedCamera.track_rotation_speedCamera.track_targetCamera.zfarCamera.znear
CollisionIgnoresCollisionMaskColorSpaceCompileOptionsConnectConstraintTypeConstraintForceModelContactMatchContactSensorContactSensorReduceContactSensorReportContactSensorReport.set_dist()ContactSensorReport.set_force()ContactSensorReport.set_found()ContactSensorReport.set_normal()ContactSensorReport.set_pos()ContactSensorReport.set_tangent()ContactSensorReport.set_torque()ContactSensorReport.distContactSensorReport.forceContactSensorReport.foundContactSensorReport.normalContactSensorReport.posContactSensorReport.tangentContactSensorReport.torque
ConvexStrategyDirectionalLightDescDynTypeEqualityConnectEqualityConstraintSetEqualityJointEqualityWeldForceOverrideFrameSensorFrameSensorRefFrameSensorTypeFreeCameraFreeJointFrequencyDampingRatioGainTypeGeneralParamGeneralParam.get_biasprm()GeneralParam.get_dynprm()GeneralParam.get_gainprm()GeneralParam.set_actearly()GeneralParam.set_bias()GeneralParam.set_biasprm()GeneralParam.set_dynprm()GeneralParam.set_dyntype()GeneralParam.set_gain()GeneralParam.set_gainprm()GeneralParam.actearlyGeneralParam.biasGeneralParam.dyntypeGeneralParam.gain
GeomVisualAttrsGeometryGeometry.set_collision_mask()Geometry.set_gap()Geometry.set_hfield()Geometry.set_margin()Geometry.set_mass()Geometry.set_mesh()Geometry.set_mesh_scale()Geometry.set_name()Geometry.set_orientation()Geometry.set_physics_material()Geometry.set_position()Geometry.set_priority()Geometry.set_shape()Geometry.set_size()Geometry.set_visual()Geometry.collision_maskGeometry.gapGeometry.hfieldGeometry.marginGeometry.massGeometry.meshGeometry.mesh_scaleGeometry.nameGeometry.orientationGeometry.physics_materialGeometry.positionGeometry.priorityGeometry.shapeGeometry.sizeGeometry.visual
HFieldSourceHFieldSourceTypeHeadLightHierarchyImpedanceImpedanceSpringInertiaIntegratorMethodJointJoint.set_actuator_force_limit()Joint.set_armature()Joint.set_axis()Joint.set_friction_damping()Joint.set_friction_loss()Joint.set_limit_force()Joint.set_margin()Joint.set_name()Joint.set_pos()Joint.set_pos_limit()Joint.set_ref_()Joint.set_spring_damper()Joint.set_type_()Joint.actuator_force_limitJoint.armatureJoint.axisJoint.friction_dampingJoint.friction_lossJoint.limit_forceJoint.marginJoint.nameJoint.posJoint.pos_limitJoint.ref_Joint.spring_damperJoint.type_
JointSensorJointSensorTypeJointTendonJointTendon.get_joints()JointTendon.set_friction_damping()JointTendon.set_frictionloss()JointTendon.set_joints()JointTendon.set_limit()JointTendon.set_limit_force()JointTendon.set_name()JointTendon.set_spring()JointTendon.set_spring_length()JointTendon.friction_dampingJointTendon.frictionlossJointTendon.limitJointTendon.limit_forceJointTendon.nameJointTendon.springJointTendon.spring_length
JointTendonNodeJointTypeKeyframeLayerLightLightTypeLinkLink.get_cameras()Link.get_children()Link.get_geoms()Link.get_joints()Link.get_lights()Link.get_sites()Link.set_cameras()Link.set_children()Link.set_disable_self_collision()Link.set_geoms()Link.set_gravcomp()Link.set_inertial()Link.set_joints()Link.set_lights()Link.set_local_rotation()Link.set_local_translation()Link.set_name()Link.set_sites()Link.disable_self_collisionLink.gravcompLink.inertialLink.local_rotationLink.local_translationLink.name
MarkMaterialMaterial.get_layers()Material.set_alpha_mode()Material.set_both_side()Material.set_color()Material.set_depth_bias()Material.set_detail_repeat()Material.set_detail_strength()Material.set_emissive()Material.set_emissive_intensity()Material.set_flip_tangent_u()Material.set_flip_tangent_v()Material.set_ior()Material.set_layers()Material.set_metallic()Material.set_name()Material.set_reflectance()Material.set_roughness()Material.set_specular_color()Material.set_tex_origin()Material.set_tex_repeat()Material.set_tex_translation()Material.set_tex_uniform()Material.set_texture_name()Material.set_transmisive()Material.alpha_modeMaterial.both_sideMaterial.colorMaterial.depth_biasMaterial.detail_repeatMaterial.detail_strengthMaterial.emissiveMaterial.emissive_intensityMaterial.flip_tangent_uMaterial.flip_tangent_vMaterial.iorMaterial.metallicMaterial.nameMaterial.reflectanceMaterial.roughnessMaterial.specular_colorMaterial.tex_originMaterial.tex_repeatMaterial.tex_translationMaterial.tex_uniformMaterial.texture_nameMaterial.transmisive
MaterialRoleMeshDataMeshSourceMeshTransformObjectTypePhysicsMaterialPointLightDescPositionParamPositionTrackProbeRangeRotationTrackSceneSceneStatisticSensorSetShapeFitShapeTypeSimulateOptionSimulateOption.set_constraint_solver_iterations()SimulateOption.set_constraint_solver_tolerance()SimulateOption.set_convex_strategy()SimulateOption.set_disable_actuators()SimulateOption.set_disable_constraints()SimulateOption.set_disable_contacts()SimulateOption.set_disable_damping()SimulateOption.set_disable_equality()SimulateOption.set_disable_frictionloss()SimulateOption.set_disable_gravity()SimulateOption.set_disable_limit()SimulateOption.set_friction_model()SimulateOption.set_gravity()SimulateOption.set_override_contact_force()SimulateOption.set_override_contact_margin()SimulateOption.set_override_friction()SimulateOption.set_safty_damping_clamp()SimulateOption.set_solver_type()SimulateOption.set_timestep()SimulateOption.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.safty_damping_clampSimulateOption.solver_typeSimulateOption.timestep
SiteSiteShapeSkyboxLayoutSolverTypeSpotLightDescSpringDampCoeffSpringDamperSpringLengthTypeStiffnessDampingSubtreeSensorSubtreeSensorTypeTexcoordOriginTextureTextureSourceTextureTypeToneMappingToneMappingMethodTouchSensorTrackModeVisualVisual.get_probes()Visual.set_ambient_light()Visual.set_bv_color()Visual.set_contact_force_color()Visual.set_disable_near_clip()Visual.set_env_map_intensity()Visual.set_fog_color()Visual.set_fog_end()Visual.set_fog_start()Visual.set_haze()Visual.set_head_light()Visual.set_joint_color()Visual.set_no_frustum_cull()Visual.set_oit()Visual.set_probes()Visual.set_ssao()Visual.set_tonemapping()Visual.set_z_far()Visual.set_z_near()Visual.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.ssaoVisual.tonemappingVisual.z_farVisual.z_near
WeldConstraintTypeWorldWorld.get_actuators()World.get_joint_tendons()World.get_keyframes()World.set_actuators()World.set_assets()World.set_collision_ignores()World.set_compile_options()World.set_equality_constraint_set()World.set_free_camera()World.set_hierarchy()World.set_joint_tendons()World.set_keyframes()World.set_name()World.set_sensors()World.set_simulate_option()World.set_statistic()World.set_visual()World.assetsWorld.collision_ignoresWorld.compile_optionsWorld.equality_constraint_setWorld.free_cameraWorld.hierarchyWorld.nameWorld.sensorsWorld.simulate_optionWorld.statisticWorld.visual
from_file()from_msgpack()from_str()