https://github.com/stillonearth/bevy_mujoco

Render MuJoCo scenes in bevy
https://github.com/stillonearth/bevy_mujoco

bevy mujoco

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Render MuJoCo scenes in bevy

• Host: GitHub
• URL: https://github.com/stillonearth/bevy_mujoco
• Owner: stillonearth
• License: other
• Created: 2022-11-02T11:47:49.000Z (about 2 years ago)
• Default Branch: main
• Last Pushed: 2024-08-26T09:01:47.000Z (4 months ago)
• Last Synced: 2024-10-06T12:02:25.241Z (3 months ago)
• Topics: bevy, mujoco
• Language: Rust
• Homepage:
• Size: 278 KB
• Stars: 15
• Watchers: 2
• Forks: 1
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Bevy MuJoCo

[![Crates.io](https://img.shields.io/crates/v/bevy_mujoco.svg)](https://crates.io/crates/bevy_mujoco)

[![MIT/Apache 2.0](https://img.shields.io/badge/license-MIT%2FApache-blue.svg)](https://github.com/bevyengine/bevy#license)

[![Crates.io](https://img.shields.io/crates/d/bevy_mujoco.svg)](https://crates.io/crates/bevy_mujoco)

[![Rust](https://github.com/stillonearth/bevy_mujoco/workflows/CI/badge.svg)](https://github.com/stillonearth/bevy_mujoco/actions)

https://user-images.githubusercontent.com/97428129/210613348-82a5e59d-96af-42a9-a94a-c47093eb8297.mp4

Import MJCF files into Bevy and run simulations with MuJoCo.

## Implementation Notes

MuJoCo has 2 modes with different coordinate systems for bodies

1. `paused` mode where all translations and rotations are extracted from `mj_Model` in `MuJoCo-Rust` as `body.pos`, `body.quat` in parent's body coordinate system. To make them work nice with bevy the body structure from mujoco has to be transformed to a tree structure with `body_tree()` call. Then `body_tree` is spawned into the bevy world recursively — a nice contraption to do it in `setup_mujoco`.

2. `simulation` mode where translations are extracted from `sim.xpos()` and `sim.xquat()` — and this time they are in global frame. Since bodies are spawned hierarchically translations and rotations need to be converted to a parent coordinate system — it happens in `simulate_physics`.

## Getting Started

### MuJoCo Dependency

- `MuJoCo` 2.3.5 installed in `~/.local/mujoco` for Linux or `C:/Program Files/Mujoco` for Windows

- _nightly_ Rust. Compile with `cargo +nightly build`

### Usage

```rust

// 1. Import bevy_mujoco

use bevy_mujoco::*;

// 2. Setup bevy_mujoco Plugin. MuJoCo Plugin would spawn entities to the world

fn main() {

    App::new()

        .add_plugins(DefaultPlugins)

        .insert_resource(MuJoCoPluginSettings {

            model_xml_path: "assets/unitree_a1/scene.xml".to_string(),

            pause_simulation: false,

            target_fps: 600.0, // this is not actual fps (bug in bevy_mujoco),

                               // the bigger the value, the slower the simulation

        })

        .add_plugins(MuJoCoPlugin)

        .add_systems(Startup, setup)

        .add_systems(Update, robot_control_loop)

        .run();

}

// 3. You can control your robots here

fn robot_control_loop(mut mujoco_resources: ResMut) {

    // prepare simulation data for the NN

    let qpos = mujoco_resources.state.qpos.clone();

    let qvel = mujoco_resources.state.qvel.clone();

    let cfrc_ext = mujoco_resources.state.cfrc_ext.clone();

    // Compute input -> control values here and fill control

    // ...

    let mut control: Vec = Vec::new();

    mujoco_resources.control.data = input_vec;

}

```

**copy build.rs to root of your project to use in with Windows environments. it will copy mujoco.dll to a build dir of your application**

To run tests and example initialize [`mujoco_menagerie`](https://github.com/deepmind/mujoco_menagerie) submobule with

```bash

cd bevy_mujoco

git submodule init

git submodule update

```

See [example](https://github.com/stillonearth/bevy_quadruped_neural_control) for simulating Unitree A1 robot.