chore: release v0.8.0

Author: motphys-developers

LICENSE

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+# motrixsim Agent API
+
+## Modules
+
+- [`motrixsim`](./modules/motrixsim.md)
+- [`motrixsim.ik`](./modules/motrixsim.ik.md)
+- [`motrixsim.osc`](./modules/motrixsim.osc.md)
+- [`motrixsim.render`](./modules/motrixsim.render.md)
+- [`motrixsim.render.widgets`](./modules/motrixsim.render.widgets.md)
+- [`motrixsim.usd`](./modules/motrixsim.usd.md)
+- [`motrixsim.viewer`](./modules/motrixsim.viewer.md)

api_md/index.md

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+# motrixsim.ik
+
+## Classes
+
+- [`DlsSolver`](../symbols/motrixsim.ik.DlsSolver.md) - Use Damped Least Squares (DLS) method to solve inverse kinematics problem.
+- [`GaussNewtonSolver`](../symbols/motrixsim.ik.GaussNewtonSolver.md) - Use gauss newton iterative method to solve inverse kinematics problem.
+- [`IkChain`](../symbols/motrixsim.ik.IkChain.md) - Represents a kinematic chain for inverse kinematics (IK) solving.

api_md/modules/motrixsim.ik.md

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+# motrixsim
+
+## Classes
+
+- [`Actuator`](../symbols/motrixsim.Actuator.md) - The base Actuator class provides access to common actuator properties and control.
+- [`AdhesionActuator`](../symbols/motrixsim.AdhesionActuator.md) - Adhesion actuator (MJCF ``<adhesion>``). Generates adhesion force on contact surfaces.
+- [`Body`](../symbols/motrixsim.Body.md) - The Body object represents a rigid body in the scene.
+- [`Camera`](../symbols/motrixsim.Camera.md) - The Camera object in the scene.
+- [`CameraMgr`](../symbols/motrixsim.CameraMgr.md)
+- [`ContactQuery`](../symbols/motrixsim.ContactQuery.md)
+- [`DisjointIndices`](../symbols/motrixsim.DisjointIndices.md)
+- [`FloatingBase`](../symbols/motrixsim.FloatingBase.md) - The FloatingBase object represents a floating base in the scene.
+- [`GeneralActuator`](../symbols/motrixsim.GeneralActuator.md) - General actuator (MJCF ``<general>``).
+- [`Geom`](../symbols/motrixsim.Geom.md) - The Geom object represents a geometry in the scene.
+- [`HField`](../symbols/motrixsim.HField.md) - The HField object represents a height field terrain in the scene.
+- [`Joint`](../symbols/motrixsim.Joint.md) - The Joint object represents a joint in the scene.
+- [`Keyframe`](../symbols/motrixsim.Keyframe.md) - The Keyframe object represents a keyframe in the scene.
+- [`Link`](../symbols/motrixsim.Link.md) - The Link object represents a kinematic link in the scene.
+- [`Mocap`](../symbols/motrixsim.Mocap.md) - The Mocap object represents a motion capture body in the scene. it can will participate in the
+- [`MotorActuator`](../symbols/motrixsim.MotorActuator.md) - Motor actuator (MJCF ``<motor>``). Direct torque/force control with fixed gain = 1.0.
+- [`Options`](../symbols/motrixsim.Options.md) - The Options object represents the simulation options.
+- [`PositionActuator`](../symbols/motrixsim.PositionActuator.md) - Position actuator (MJCF ``<position>``).
+- [`SceneData`](../symbols/motrixsim.SceneData.md) - The SceneData object represents the simulation state.
+- [`SceneModel`](../symbols/motrixsim.SceneModel.md) - The SceneModel object represents the entire simulation world.
+- [`Shape`](../symbols/motrixsim.Shape.md) - The shape type of a collider.
+- [`Site`](../symbols/motrixsim.Site.md) - The Site object represents a reference point or marker in the scene.
+- [`VelocityActuator`](../symbols/motrixsim.VelocityActuator.md) - Velocity actuator (MJCF ``<velocity>``).
+
+## Functions
+
+### forward_kinematic
+
+```python
+def forward_kinematic(model: SceneModel, data: SceneData) -> None
+```
+
+Run forward kinematic only.
+    
+    Args:
+        model: The scene model.
+        data: The scene data.
+
+### load_mjcf_str
+
+```python
+def load_mjcf_str(mjcf: str) -> SceneModel
+```
+
+Load a model from a string containing MJCF data.
+    
+    Args:
+       mjcf: The MJCF data as a string.
+    
+    Returns:
+       SceneModel: The loaded scene model.
+
+### load_model
+
+```python
+def load_model(path: str) -> SceneModel
+```
+
+Load a model from the given file path.
+    
+    Args:
+        path: The path to the model file.
+        currently mjcf and urdf are supported.
+    
+    Returns:
+        SceneModel: The loaded scene model.
+
+### load_usd
+
+```python
+def load_usd(usd_path: str | Path, deduplicate_vertices: bool = True) -> SceneModel
+```
+
+Load a USD file and return a SceneModel ready for simulation.
+
+    Args:
+        usd_path: Path to the USD file (.usd, .usda, .usdc, .usdz).
+        deduplicate_vertices: If True (default), merge vertices with identical attributes.
+
+### step
+
+```python
+def step(model: SceneModel, data: SceneData) -> None
+```
+
+Advance the simulation by one step.
+    
+    Args:
+        model: The scene model.
+        data: The scene data.

api_md/modules/motrixsim.md

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+# motrixsim.osc
+
+## Classes
+
+- [`OscSolver`](../symbols/motrixsim.osc.OscSolver.md) - Operational Space Controller Solver.

api_md/modules/motrixsim.osc.md

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+# motrixsim.render
+
+## Classes
+
+- [`CameraViewport`](../symbols/motrixsim.render.CameraViewport.md)
+- [`CaptureTask`](../symbols/motrixsim.render.CaptureTask.md)
+- [`Color`](../symbols/motrixsim.render.Color.md) - A color in RGBA format, where each component is a float in the range [0.0, 1.0].
+- [`Image`](../symbols/motrixsim.render.Image.md)
+- [`ImageWidget`](../symbols/motrixsim.render.ImageWidget.md)
+- [`Input`](../symbols/motrixsim.render.Input.md) - The Input object represents the input events of the render app.
+- [`InvalidArgumentError`](../symbols/motrixsim.render.InvalidArgumentError.md)
+- [`InvalidFileError`](../symbols/motrixsim.render.InvalidFileError.md)
+- [`Layout`](../symbols/motrixsim.render.Layout.md) - Layout configuration for camera viewport widgets.
+- [`OtherRenderError`](../symbols/motrixsim.render.OtherRenderError.md)
+- [`RenderApp`](../symbols/motrixsim.render.RenderApp.md) - The RenderApp class is responsible for rendering the simulation scene.
+- [`RenderCamera`](../symbols/motrixsim.render.RenderCamera.md)
+- [`RenderClosedError`](../symbols/motrixsim.render.RenderClosedError.md)
+- [`RenderError`](../symbols/motrixsim.render.RenderError.md)
+- [`RenderGizmos`](../symbols/motrixsim.render.RenderGizmos.md) - Gizmos module for rendering simple shapes in immediate mode.
+- [`RenderOpt`](../symbols/motrixsim.render.RenderOpt.md) - The RenderOpt object represents the options of the render app.
+- [`RenderSettings`](../symbols/motrixsim.render.RenderSettings.md) - The global render settings for render app.
+- [`RenderUI`](../symbols/motrixsim.render.RenderUI.md) - The RenderUI object represents the user interface of the render app.
+- [`RenderWidgets`](../symbols/motrixsim.render.RenderWidgets.md) - Widgets module for creating UI widgets in the render window.
+- [`SystemCamera`](../symbols/motrixsim.render.SystemCamera.md)

api_md/modules/motrixsim.render.md

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+# motrixsim.render.widgets
+
+## Classes
+
+- [`CameraViewport`](../symbols/motrixsim.render.widgets.CameraViewport.md)
+- [`ImageWidget`](../symbols/motrixsim.render.widgets.ImageWidget.md)

api_md/modules/motrixsim.render.widgets.md

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+# motrixsim.usd
+
+## Functions
+
+### load_usd
+
+```python
+def load_usd(usd_path: str | Path, deduplicate_vertices: bool = True) -> SceneModel
+```
+
+Load a USD file and return a SceneModel ready for simulation.
+
+    Args:
+        usd_path: Path to the USD file (.usd, .usda, .usdc, .usdz).
+        deduplicate_vertices: If True (default), merge vertices with identical attributes.

api_md/modules/motrixsim.usd.md

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+# motrixsim.viewer
+
+## Functions
+
+### launch
+
+```python
+def launch(model: Optional[SceneModel] = None, data: Optional[Any] = None, callback: Optional[Any] = None) -> None
+```
+
+Launch a managed viewer with optional model and data.
+    
+    This function provides a simplified interface similar to MuJoCo's managed viewer.
+    It blocks until the viewer window is closed, automatically handling the physics
+    simulation loop and rendering.
+    
+    Args:
+        model: The scene model to simulate and visualize.
+                                      If not provided, loads a default sample model.
+        data: The scene data containing the initial state.
+                                    If not provided, creates default data from the model.
+        callback: A callback function called at each physics step.