Rusty MuJoCo Binding

Rust bindings for the MuJoCo physics simulator

MuJoCo Version: 3.3.2

• Offers safe, low-level Rust wrappers for the entire MuJoCo API.
• Provides getters for all struct fields and setters for user-modifiable fields, instead of allowing direct field access.
• Implements automatic resource management via Rust's RAII pattern. For example, mjModel automatically calls mj_deleteModel in its Drop implementation, preventing memory leaks.
• Emphasizes type-safety and efficiency within a lean binding interface. For instance, the ObjectId<T> type system replaces raw integer IDs to:
  • Ensure compile-time safety for all object-related operations.
  • Improve performance by eliminating the need for repeated mj_name2id lookups.

Requirements

• MuJoCo 3.3.2 downloaded and installed
• Additionally, if you place mujoco library in a non-standard directory of the platform, you need MUJOCO_LIB environment variable set to the path of the directory containing libmujoco.so or mujoco.lib (e.g. $HOME/.mujoco/mujoco-3.3.2/lib when you placed the official release above in ~/.mujoco)

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_LIB="/usr/local/lib/mujoco-3.3.2/lib"

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

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

• Or, you can get MuJoCo library through Python toolchain like uv or pip.

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

Example

[dependencies]
rusty_mujoco = "0.2"
glfw = "0.60"

use rusty_mujoco::{mj_loadXML, mj_makeData, mj_name2id, mj_step, mjr_render, mjv_updateScene};
use rusty_mujoco::{mjrContext, mjrRect, mjvScene, mjvCamera, mjvOption, mjtCatBit, mjtFontScale};

let xml_path: String = todo!();
let camera_name: Option<String> = todo!();

let model = mj_loadXML(xml_path).expect("Failed to load XML file");
let mut data = mj_makeData(&model);

let mut glfw = glfw::init(glfw::fail_on_errors).expect("Failed to initialize GLFW");
let (mut window, _) = glfw
    .create_window(1200, 900, "Acrobot Simulation", glfw::WindowMode::Windowed)
    .expect("Failed to create GLFW window");
window.set_size_polling(true);
window.set_close_polling(true);
glfw::Context::make_current(&mut *window);

let con = mjrContext::new(&model, mjtFontScale::X150);
let opt = mjvOption::default();
let mut scn = mjvScene::new(&model, 2000);
let mut cam = mjvCamera::default();
camera_name.map(|name| cam.set_fixedcamid(mj_name2id(&model, &name).expect("No camera of such name in the model")));

while !window.should_close() {
    while data.time() < glfw.get_time() {
        mj_step(&model, &mut data);
    }
    
    let viewport = {
        let (width, height) = window.get_framebuffer_size();
        mjrRect::new(0, 0, width as u32, height as u32)
    };
    
    mjv_updateScene(
        &model,
        &mut data,
        &opt,
        None, /* No perturbation */
        &mut cam,
        mjtCatBit::ALL,
        &mut scn,
    );
    mjr_render(viewport, &mut scn, &con);
    
    glfw::Context::swap_buffers(&mut *window);
    glfw.poll_events();
}

See examples/visualize_left_object.rs for full example and examples/README.md for the description.

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 Apache Lisense, Version 2.0).