MuJoCo-rs documentation

MuJoCo bindings and wrappers for the Rust programming language. Includes a Rust-native 3D viewer and also bindings to a modified C++ one.

MuJoCo is a general purpose physics simulator.

MuJoCo version

MuJoCo-rs uses FFI bindings to MuJoCo 3.3.5.

Main features

MuJoCo-rs tries to stay close to the MuJoCo’s C API, with a few additional features for ease of use. The main features on top of MuJoCo include:

• Safe wrappers around structs:

  • Automatic allocation and cleanup.

  • Lifetime checks.

• Methods as function wrappers.

• Easy manipulation of simulation data via Attribute views.

• High-level Model editing.

• Visualization:

  • 3D renderer: offscreen rendering to array or file.

  • 3D viewer: onscreen visualization.

    

Installation

For installation, see Installation.

Optional Cargo features

Optional Cargo features can be enabled:

• viewer: enables the Rust-native MuJoCo viewer. It can display everything and respond to mouse/keyboard events. No side-panels (the user menu) currently exists.

• cpp-viewer: enables the Rust wrapper around the C++ MuJoCo viewer. This requires static linking to a modified fork of MuJoCo, as described in Installation.

• renderer: enables offscreen rendering for writing RGB and depth data to memory or file.

By default, viewer and renderer are enabled.

Table of contents

• Installation
  • MuJoCo-rs
  • Dependencies
• Programming
  • Changes from MuJoCo
  • Simulation
  • Visualization
  • Model editing
• API
• Changelog
  • Versioning
  • 1.5.0 (MuJoCo 3.3.5)
  • 1.4.2 (MuJoCo 3.3.5)
  • 1.4.1 (MuJoCo 3.3.5)
  • 1.4.0 (MuJoCo 3.3.5)
  • 1.3.0 (MuJoCo 3.3.5)
  • 1.2.0 (MuJoCo 3.3.5)
  • 1.1.0 (MuJoCo 3.3.5)
  • 1.0.1 (MuJoCo 3.3.5)
  • 1.0.0 (MuJoCo 3.3.5)
  • 0.4.3 (MuJoCo 3.3.5)
  • 0.4.2 (MuJoCo 3.3.5)
  • 0.4.1 (MuJoCo 3.3.5)
  • 0.4.0 (MuJoCo 3.3.5)
  • 0.3.0 (MuJoCo 3.3.5)