motrixsim 0.8.1

High-performance physics simulation engine for multibody dynamics and robotics simulation

MotrixSim

MotrixSim is a high-performance physics simulation engine designed for multibody dynamics and robotics simulation. It provides an efficient and stable simulation platform for robotics control, reinforcement learning, industrial simulation, and related engineering workflows.

Key Features

• Physics simulation: Supports rigid body dynamics, collision detection, and other core physics simulation capabilities.
• Generalized coordinate modeling: Uses a generalized coordinate system for modeling complex multibody systems.
• Modern solver: Uses an in-house constraint model and solver for efficient, stable multibody dynamics computation.
• High-performance computing: The CPU version is built with Rust for strong performance and memory safety.
• Python API: Provides a clean Python interface for rapid development and prototyping.
• Robotics support: Includes robotics-focused simulation features with strong compatibility for MJCF model files.

Use Cases

• Development and testing of robot control algorithms
• Reinforcement learning environment construction
• Industrial real-time physics simulation
• Physical phenomenon simulation and analysis
• Engineering design verification
• Education and research

Installation

pip install motrixsim

Documentation

• Documentation
• Repository