Struct Mujoco 

pub struct Mujoco { /* private fields */ }

The container that holds and runs the simulation

Implementations

impl Mujoco

pub fn new(model: MjModel) -> Self

Examples found in repository

examples/basic.rs (line 20)

fn main() {
    let model = evomujoco::MjModel::from_xml_string(EXAMPLE).unwrap();
    let mut mujoco = evomujoco::Mujoco::new(model);

    loop {
        mujoco.update();
    }
}

examples/actuator.rs (line 33)

fn main() {
    let model = evomujoco::MjModel::from_xml_string(EXAMPLE).unwrap();
    let mut mujoco = evomujoco::Mujoco::new(model);

    let act = mujoco.get_actuator("j_ctrl".to_string());
    let joint = mujoco.get_joint_from_name("joint".to_string());

    let start = SystemTime::now();

    loop {
        act.set_ctrl(f64::sin(
            SystemTime::now()
                .duration_since(start)
                .unwrap()
                .as_secs_f64(),
        ));
        match joint.get_qpos() {
            evomujoco::JointOutput::Hinge(j) => println!("{}", j.angle()),
            _ => {}
        }
        mujoco.update();
    }
}

pub fn get_joints(&self) -> HashMap<String, Joint>

Gets all joints.

pub fn get_joint_ids(&self) -> Vec<i32>

Gets all existing joint ids.

pub fn get_joint_name(&self, index: usize) -> String

Given a joint id, this function will return the name of a joint.

pub fn get_index(&self, name: String) -> u32

Not implemented

pub fn get_joint_from_name(&self, name: String) -> Joint

Examples found in repository

examples/actuator.rs (line 36)

fn main() {
    let model = evomujoco::MjModel::from_xml_string(EXAMPLE).unwrap();
    let mut mujoco = evomujoco::Mujoco::new(model);

    let act = mujoco.get_actuator("j_ctrl".to_string());
    let joint = mujoco.get_joint_from_name("joint".to_string());

    let start = SystemTime::now();

    loop {
        act.set_ctrl(f64::sin(
            SystemTime::now()
                .duration_since(start)
                .unwrap()
                .as_secs_f64(),
        ));
        match joint.get_qpos() {
            evomujoco::JointOutput::Hinge(j) => println!("{}", j.angle()),
            _ => {}
        }
        mujoco.update();
    }
}

pub fn get_joint(&self, index: usize) -> Joint

Reterives a joint given a joint index.

pub fn get_actuator(&self, name: String) -> Actuator

Gets an actuator

Examples found in repository

examples/actuator.rs (line 35)

fn main() {
    let model = evomujoco::MjModel::from_xml_string(EXAMPLE).unwrap();
    let mut mujoco = evomujoco::Mujoco::new(model);

    let act = mujoco.get_actuator("j_ctrl".to_string());
    let joint = mujoco.get_joint_from_name("joint".to_string());

    let start = SystemTime::now();

    loop {
        act.set_ctrl(f64::sin(
            SystemTime::now()
                .duration_since(start)
                .unwrap()
                .as_secs_f64(),
        ));
        match joint.get_qpos() {
            evomujoco::JointOutput::Hinge(j) => println!("{}", j.angle()),
            _ => {}
        }
        mujoco.update();
    }
}

pub fn get_camera(&self, name: String, resolution: (u32, u32)) -> Camera

Gets a camera

pub fn update(&mut self)

The main update function. This will step the simulation and update the viewer.

Examples found in repository

examples/basic.rs (line 23)

fn main() {
    let model = evomujoco::MjModel::from_xml_string(EXAMPLE).unwrap();
    let mut mujoco = evomujoco::Mujoco::new(model);

    loop {
        mujoco.update();
    }
}

examples/actuator.rs (line 51)

fn main() {
    let model = evomujoco::MjModel::from_xml_string(EXAMPLE).unwrap();
    let mut mujoco = evomujoco::Mujoco::new(model);

    let act = mujoco.get_actuator("j_ctrl".to_string());
    let joint = mujoco.get_joint_from_name("joint".to_string());

    let start = SystemTime::now();

    loop {
        act.set_ctrl(f64::sin(
            SystemTime::now()
                .duration_since(start)
                .unwrap()
                .as_secs_f64(),
        ));
        match joint.get_qpos() {
            evomujoco::JointOutput::Hinge(j) => println!("{}", j.angle()),
            _ => {}
        }
        mujoco.update();
    }
}