mujoco-rs 0.4.1

A Rust wrapper around the MuJoCo C library, with a native simple viewer (re-)written in Rust.
Documentation

mujoco-rs

docs.rs Crates.io

MuJoCo bindings and wrappers for the Rust programming language. Includes a Rust-native viewer and also bindings to a modified C++ one.

MuJoCo version

This library uses FFI bindings to MuJoCo 3.3.5. The library can either be provided dynamically in the form of share library (.so and .dll):

  • MUJOCO_DYNAMIC_LINK_LIB=/path/mujoco/lib/ cargo build.

When using the shared library, the Rust-native MuJoCo viewer can be used, but not the original C++ one.

Also note that when the MuJoCo library isn't installed in the standard location, the path /path/mujoco/lib/ must be added to LD_LIBRARY_PATH like so:

  • LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/path/mujoco/lib/

Now regarding static linking. If you do not require the C++ MuJoCO viewer (the simulate UI) and have somehow already obtained statically linkable libraries, you can just run the following command:

  • MUJOCO_STATIC_LINK_LIB=/path/mujoco/lib/ cargo build.

Note that the /path/mujoco/lib needs to contain all the MuJoCo dependencies.

To build statically with the support of the C++ MuJoCo viewer, perform the following:

  1. Clone the repository
  2. git submodule update --init --recursive
  3. cd ./mujoco/
  4. cmake -B build -S . -DBUILD_SHARED_LIBS:BOOL=OFF -DMUJOCO_HARDEN:BOOL=OFF -DCMAKE_BUILD_TYPE:STRING=Release -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=ON -DMUJOCO_BUILD_EXAMPLES:BOOL=OFF -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
  5. cmake --build build --parallel --target libsimulate --config=Release
  6. Add the crate normally to your Cargo.toml.

Features

Optional features can be enabled to add additional features. These are:

  • viewer (default): enables the Rust-native MuJoCo viewer. This can currently display everything and respond to mouse/keyboard, however perturbations aren't yet supported. Additionally, no other UI is cpresent than
  • cpp-viewer: enables the Rust wrapper around the C++ MuJoCo viewer. This is only available if you build the MuJoCo yourself using the steps above (yes, you need to use the forked repository).

Examples

Examples can be tested under the examples/ directory.

RAW FFI bindings

If the current state of the wrappers isn't satisfactory enough, raw FFI bindings to the C MuJoCo library can be used. These are available under the mujoco_rs::mujoco_c module. To access the FFI level structs of the wrappers, call the ffi() and ffi_mut() methods.

NOTE

This project is WIP but functional. I accept pull requests about bug fixes and feature requests. If you have any questions, please open a discussion.