Crate mujoco_rs 

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.

Currently, no direct functions are provided. Some of the functions are made into methods at appropriate structs, while others can be found under mujoco_rs::mujoco_c module. Missing structs can also be obtained there.

To access the lower-level ffi structs in the wrappers, call either the ffi() method or the ffi_mut() method.

The main structs are wrappers::mj_model::MjModel and wrappers::mj_data::MjData. The Rust-native viewer is available in viewer::MjViewer.

Modules

mujoco_c

prelude

Mujoco Rust wrappers

util

Utility related data

viewer

wrappers

A set of wrappers around the MuJoCo types.

Macros

fixed_size_info_method

Macro for reducing duplicated code when creating info structs to items that have fixed size arrays in MjData or MjModel. This creates a method X(self, name; &str) -> XInfo.

info_with_view

Creates the xInfo struct along with corresponding xView and xViewMut structs.

view_creator

Creates a $view struct, mapping $field and $opt_field to the same location as in $data.

Functions

get_mujoco_version

Returns the version string of the MuJoCo library