🎯 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
motrixsimActuatorOverrideDampingTypeErrorActuatorOverrideErrorActuatorOverrideInvalidValueErrorActuatorOverrideUnsupportedTypeErrorActuatorAdhesionActuatorBodyBody.get_dof_pos_indices()Body.get_dof_vel_indices()Body.get_joint_dof_pos()Body.get_joint_dof_vel()Body.get_pose()Body.get_position()Body.get_rotation()Body.get_rotation_mat()Body.set_actuator_ctrls()Body.set_dof_pos()Body.set_dof_vel()Body.actuatorsBody.base_linkBody.floatingbaseBody.indexBody.is_mocapBody.mocapBody.modelBody.nameBody.num_actuatorsBody.num_joint_dof_posBody.num_joint_dof_velBody.num_jointsBody.num_links
CameraCameraMgrContactQueryDisjointIndicesFloatingBaseFloatingBase.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_indicesFloatingBase.dof_pos_startFloatingBase.dof_vel_indicesFloatingBase.dof_vel_startFloatingBase.indexFloatingBase.modelFloatingBase.name
GeneralActuatorGeneralActuator.get_bias_override()GeneralActuator.get_damping_override()GeneralActuator.get_gain_override()GeneralActuator.get_stiffness_override()GeneralActuator.set_bias_override()GeneralActuator.set_damping_override()GeneralActuator.set_gain_override()GeneralActuator.set_stiffness_override()
GeomGeomCapsuleGeomCuboidGeomCylinderGeomEllipsoidGeomHFieldGeomInfinitePlaneGeomMeshGeomPlaneGeomSphereHFieldJointJoint.get_armature_override()Joint.get_dof_pos()Joint.get_dof_vel()Joint.get_frictionloss_override()Joint.set_armature_override()Joint.set_dof_pos()Joint.set_dof_vel()Joint.set_frictionloss_override()Joint.armatureJoint.axisJoint.dof_pos_indexJoint.dof_vel_indexJoint.frictionlossJoint.indexJoint.linkJoint.link_indexJoint.modelJoint.nameJoint.num_dof_posJoint.num_dof_velJoint.range
KeyframeLinkLink.add_external_force()Link.add_external_torque()Link.get_angular_velocity()Link.get_center_of_mass_override()Link.get_joint()Link.get_linear_velocity()Link.get_mass_override()Link.get_pose()Link.get_position()Link.get_rotation()Link.get_rotation_mat()Link.joints()Link.set_center_of_mass_override()Link.set_mass_override()Link.center_of_massLink.geomsLink.indexLink.joint_indicesLink.massLink.modelLink.nameLink.num_joints
MocapMotorActuatorOptionsPositionActuatorSceneDataSceneModelSceneModel.compute_init_dof_pos()SceneModel.enable_constraints_report()SceneModel.forward_kinematic()SceneModel.get_actuator()SceneModel.get_actuator_ctrls()SceneModel.get_actuator_index()SceneModel.get_body()SceneModel.get_body_index()SceneModel.get_camera_poses()SceneModel.get_contact_query()SceneModel.get_geom()SceneModel.get_geom_index()SceneModel.get_gravity_override()SceneModel.get_hfield()SceneModel.get_hfield_index()SceneModel.get_joint()SceneModel.get_joint_index()SceneModel.get_link()SceneModel.get_link_angular_velocities()SceneModel.get_link_index()SceneModel.get_link_linear_velocities()SceneModel.get_link_poses()SceneModel.get_link_rotation_mats()SceneModel.get_link_velocities()SceneModel.get_sensor_value()SceneModel.get_sensor_values()SceneModel.get_site()SceneModel.get_site_index()SceneModel.set_gravity_override()SceneModel.step()SceneModel.step_n()SceneModel.actuator_ctrl_limitsSceneModel.actuator_namesSceneModel.actuatorsSceneModel.bodiesSceneModel.body_namesSceneModel.camerasSceneModel.floating_basesSceneModel.geom_namesSceneModel.geomsSceneModel.joint_dof_pos_indicesSceneModel.joint_dof_pos_numsSceneModel.joint_dof_vel_indicesSceneModel.joint_dof_vel_numsSceneModel.joint_limitsSceneModel.joint_namesSceneModel.jointsSceneModel.keyframesSceneModel.link_namesSceneModel.linksSceneModel.lowSceneModel.num_actuatorsSceneModel.num_bodiesSceneModel.num_dof_posSceneModel.num_dof_velSceneModel.num_geomsSceneModel.num_hfieldsSceneModel.num_jointsSceneModel.num_keyframesSceneModel.num_linksSceneModel.num_sensorsSceneModel.num_sitesSceneModel.optionsSceneModel.site_namesSceneModel.sites
ShapeSiteTerrainScannerVelocityActuatorforward_kinematic()load_mjcf_str()load_model()step()