Rusty MuJoCo Binding

Rust bindings for the MuJoCo physics simulator

MuJoCo Version

3.3.2

Requirements

• MuJoCo 3.3.2 downloaded and expanded as it is (don't move or rename the files within it)
• MUJOCO_DIR environment variable set to the path of the MuJoCo directory (e.g. $HOME/.mujoco/mujoco-3.3.2)

Note & Tips

• For example on x86_64 Linux, run:

  wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-x86_64.tar.gz
  tar -xzf mujoco-3.3.2-linux-x86_64.tar.gz

  to download & expand MuJoCo 3.3.2.
  On other platforms, do the same with the appropriate archive file for your system.

• One way to setup is to install MuJoCo to a default standard path like /usr/local/lib/ (or a folder in PATH on Windows), then if needed create symlink to mujoco-3.3.2/lib/libmujoco.so there, and insert to your shell config file:

  # example on Linux with /usr/local/lib/
  export MUJOCO_DIR="/usr/local/lib/mujoco-3.3.2"

  Or if you'd like to avoid to install MuJoCo to such a system directory:

  # example on Linux with $HOME/.mujoco/
  export MUJOCO_DIR="$HOME/.mujoco/mujoco-3.3.2"
  export LD_LIBRARY_PATH="$MUJOCO_DIR/lib:$LD_LIBRARY_PATH"

• Depending on your setting, be sure to specify $MUJOCO_DIR/lib as shared library path when executing your app (for example LD_LIBRARY_PATH=$MUJOCO_DIR/lib cargo run on Linux)

Usage

Cargo.toml

[dependencies]
rusty_mujoco = "0.1.0"

src/main.rs

fn main() {
    // TODO DOCUMENT...
}

See the examples directory for working examples.

Previous Works

• TheButlah/mujoco-rs : archived by the owner on Sep 19, 2021.
• MuJoCo-Rust/MuJoCo-Rust : seems not maintained anymore (last commit on 2 years ago) and not compatible with MuJoCo 3+.

License

rusty_mujoco is licensed under MIT LICENSE.