mujoco-rust

MuJoCo bindings for Rust

Installation requirements

These bindings require that MuJoCo be installed before building. The build system assumes that MuJoCo is installed into ~/.local/mujoco on UNIX-based systems and C:\Program Files\MuJoCo on Windows, but any installation directory can be used, as long as either the environment variable MUJOCO_DIR or MUJOCO_PREFIX is set to the root of the installation.

This package relies on MuJoCo headers and binaries installed in your system. Hence current versioning may change for CI but with no changes to source code of Rust bindings.

Test running

LD_LIBRARY_PATH=~/.local/mujoco/lib cargo test

Usage

These wrappers use mujoco-rs-sys to provide rust bindings to the MuJoCo C API. The mujoco-rs-sys crate is not intended to be used directly, but instead is used by mujoco-rust to provide a more idiomatic rust interface to the MuJoCo API.

Example Usage

Cargo.toml

[dependencies]
mujoco-rust = { version = "0.0.7" }

main.rs

let model = mujoco_rust::Model::from_xml("simple.xml".to_string()).unwrap();
let simulation = MuJoCoSimulation::new(model);