Metadata-Version: 2.4
Name: motrixsim
Version: 0.6.0
Classifier: Programming Language :: Rust
Classifier: Programming Language :: Python :: Implementation :: CPython
Classifier: Programming Language :: Python :: Implementation :: PyPy
Classifier: Programming Language :: Python :: 3.10
Classifier: Programming Language :: Python :: 3.11
Classifier: Programming Language :: Python :: 3.12
Classifier: Programming Language :: Python :: 3.13
Classifier: Operating System :: Microsoft :: Windows
Classifier: Operating System :: POSIX :: Linux
Classifier: License :: OSI Approved :: Apache Software License
Requires-Dist: absl-py==2.1.0
Requires-Dist: numpy
Requires-Dist: pytest ; extra == 'test'
Requires-Dist: pytest-cov ; extra == 'test'
Requires-Dist: scipy ; extra == 'test'
Requires-Dist: ruff ; extra == 'lint'
Requires-Dist: onnxruntime>=1.22.0 ; extra == 'demo'
Requires-Dist: numpy-quaternion>=2024.0.8 ; extra == 'demo'
Requires-Dist: imageio[ffmpeg]>=2.37.2 ; extra == 'demo'
Requires-Dist: mujoco>=3.3.3 ; extra == 'mujoco-demo'
Requires-Dist: usd2msd>=0.5.0 ; python_full_version >= '3.12' and extra == 'usd'
Requires-Dist: sphinx ; extra == 'docs'
Requires-Dist: autodocsumm ; extra == 'docs'
Requires-Dist: pydata-sphinx-theme ; extra == 'docs'
Requires-Dist: myst-parser ; extra == 'docs'
Requires-Dist: sphinx-copybutton ; extra == 'docs'
Requires-Dist: sphinx-subfigure ; extra == 'docs'
Requires-Dist: sphinxcontrib-video ; extra == 'docs'
Requires-Dist: sphinx-togglebutton ; extra == 'docs'
Requires-Dist: sphinx-design ; extra == 'docs'
Provides-Extra: test
Provides-Extra: lint
Provides-Extra: demo
Provides-Extra: mujoco_demo
Provides-Extra: usd
Provides-Extra: docs
License-File: LICENSE
License-File: NOTICE
Summary: A high-performance physics simulation engine designed for multibody dynamics and robotics simulation.
Keywords: 
Author-email: Motphys <developers@motphys.com>
License: Apache-2.0
Requires-Python: >=3.10, <3.14
Description-Content-Type: text/markdown; charset=UTF-8; variant=GFM
Project-URL: repository, https://github.com/Motphys/motrixsim-docs
Project-URL: documentation, https://motrixsim.readthedocs.io

# MotrixSIm

MotrixSim 是一个高性能的物理仿真引擎，专为多体动力学和机器人仿真设计。它提供了一个高效、稳定的物理仿真平台，支持广泛的应用场景，包括机器人控制、强化学习、工业仿真等。

## 主要特性

-   **物理仿真**: 支持刚体动力学、碰撞检测等完整的物理仿真功能
-   **广义坐标建模**: 采用广义坐标系统，支持复杂的多体系统建模
-   **全新求解器**: 采用自研的约束模型和求解器，提供高效、稳定的多体动力学计算
-   **高性能计算**: CPU 版本基于 Rust 开发，提供出色的性能和内存安全性
-   **Python API**: 简洁易用的 Python 接口，便于快速开发和原型制作
-   **机器人支持**: 专门优化的机器人仿真功能，高度兼容 MJCF 模型格式

## 适用场景

-   机器人控制算法开发和测试
-   强化学习环境构建
-   工业实时物理仿真
-   物理现象模拟和分析
-   工程设计验证
-   教育和研究

