MotrixSim · High-Fidelity Embodied Simulation
MotrixSim is Motphys's in-house real-time embodied simulation platform that reproduces robot–environment interaction through high-fidelity physics computation, serving as the engine behind policy training and data generation while also working standalone for physics validation.
A High-Fidelity Physics Engine that Narrows the Sim-to-Real Gap
Every discrepancy between the physics engine and the real world amplifies at deployment. MotrixSim pursues physical accuracy across joints, contacts, friction, and rendering, narrowing the sim-to-real gap to lay the groundwork for zero-shot transfer.
Every collision in Newton's Cradle strictly conserves momentum and kinetic energy, validating the impulse solver's numerical precision and long-term stability under successive elastic collisions.
Lowering the Hardware Bar for High-Quality Rendering to Consumer-Grade GPUs
The rendering pipeline introduces physically-based materials (PBR) and real-time global illumination, faithfully reproducing light, reflections, and surface detail — delivering near-photorealistic real-time visuals on consumer-grade GPUs and narrowing the visual Sim2Real gap.
SSGI Real-Time Global Illumination
Screen-space simulation of secondary light bounces, with denoising and spatio-temporal reuse filtering — at far lower cost than hardware ray tracing, adding ambient occlusion and color bleeding for a clear gain in depth.
IBL Image-Based Lighting
Irradiance and reflectance computed from environment maps — metalness and roughness closer to real camera output.
MJCF Rendering Extension
Material and rendering description are reused and extended within the MJCF standard (environment maps, SSGI, tone mapping), delivering high-quality rendering without introducing a new format or migrating existing models.
Bring Real Scenes Directly into Simulation
COMMERCIAL3DGS scenes reconstructed from real video can be imported directly into MotrixSim, letting robots train and test in an environment close to real camera footage — narrowing the visual Sim2Real gap.
- Photorealistic fidelity, generated directly from video
- Supports assigning collision meshes to 3DGS objects — robots can physically interact with photorealistic assets
- Policies trained with visuals closer to real deployment conditions, reducing transfer error
One Laptop, Thousands of Parallel Training Environments
Simulation speed decides whether policies can iterate quickly. MotrixSim supports both large-scale CPU and large-scale GPU parallelism — a multi-core server drives thousands to tens of thousands of parallel environments.
100K steps/s
1024 G1 humanoids in parallel · AMD Ryzen 9 9950X
Community vs Commercial
MotrixSim offers a free community edition for academic research and learning; the commercial edition is for commercial use and delivery.
COMMUNITY
CommunityFree
- Free & open — academic research & learning only (no commercial use)
- Built-in standard bodies (humanoid / quadruped / arm / dexterous hand); import your own
- Built-in basic terrain & objects
- Import MJCF models; asset validation & convex decomposition
- Community & docs support
- For GPU acceleration, scene reconstruction, on-premise deployment, etc. — see Commercial
- Commercial use, redistribution & embedding
- Custom bodies & scene assets built and deliveredAdd-on
- Import USD / CAD; point-cloud & 3DGS scene reconstructionAdd-on
- GPU acceleration (NVIDIA Warp); domestic CPU / GPU / NPU support
- On-premise deployment & cloud service
- Official engineering support + SLA, co-development, training
- Contract maintenance, upgrades & renewal benefits
Items marked “Add-on” are purchased and priced separately on top of the commercial license; “Contact us” items are negotiated case by case; all others are included in the commercial license. Students and faculty may apply for an academic license of the commercial edition based on their research.