Crate mujoco_rs

Crate mujoco_rs 

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§MuJoCo-rs

A wrapper around the MuJoCo C library with a Rust-native viewer. If you’re familiar with MuJoCo, this should be pretty straightforward to use as the wrappers mainly encapsulate some C structs or just rename them to match the Rust’s PascalCase style.

The main structs are wrappers::mj_model::MjModel and wrappers::mj_data::MjData. These two structs (and some other) wrap the C structure in order to achieve memory safety.

Their fields aren’t publicly exposed and can instead be manipulated through views (e.g., MjData::joint and then wrappers::mj_data::MjJointDataInfo::view). To access the wrapped attributes directly, call the corresponding ffi() methods (e.g., MjData::ffi)

§MuJoCo version

MuJoCo-rs relies on MuJoCo 3.3.7.

§Documentation

A more guided documentation can be obtained here.

§3D viewer

The Rust-native viewer is available (viewer::MjViewer), as well as the MuJoCo’s original C++ one (cpp_viewer::MjViewerCpp). The C++ viewer however requires manual compilation of a patched MuJoCo repository, like described here.

§Model editing

MjModel can be procedurally generated through the model editing module. The specification representing the model is wrappers::mj_editing::MjSpec

§Features

This crate has the following public features:

§Functions

Most functions are wrapped under methods at different structs. Some functions are available under the wrappers::fun module.

If a certain function can’t be found, you can use the raw FFI bindings, available under the mujoco_c module. Note that to access the lower-level ffi structs inside of wrappers, ffi() or ffi_mut() must be called (e.g., MjData::ffi and MjModel::ffi).

Modules§

cpp_viewer
mujoco_c
prelude
Commonly used items.
renderer
Module related to implementation of the MjRenderer.
util
Utility related data
viewer
Module related to implementation of the MjViewer. For implementation of the C++ wrapper, see crate::cpp_viewer::MjViewerCpp.
wrappers
A set of wrappers around the MuJoCo types and functions.

Functions§

get_mujoco_version
Returns the version string of the MuJoCo library.