入门指南

MuJoCo依赖项

• MuJoCo 2.3.5已安装于Linux的 ~/.local/mujoco 或Windows的 C:/Program Files/Mujoco
• nightly Rust。使用 cargo +nightly build 编译

用法

// 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<MuJoCoResources>) {
    // 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<f32> = Vec::new();

    mujoco_resources.control.data = input_vec;
}

将build.rs复制到项目的根目录，以便在Windows环境中使用。它将mujoco.dll复制到应用程序的构建目录

要运行测试和示例，请使用以下命令初始化 mujoco_menagerie 子模块

cd bevy_mujoco
git submodule init
git submodule update

查看示例，以模拟Unitree A1机器人。