8 releases (4 breaking)
0.14.0 | Jul 5, 2024 |
---|---|
0.14.0-rc.1 | Jul 1, 2024 |
0.13.0 | Apr 2, 2024 |
0.12.0 | Nov 5, 2023 |
0.0.2 | Dec 26, 2022 |
#69 in Simulation
38KB
494 lines
Bevy MuJoCo
Import MJCF files into Bevy and run simulations with MuJoCo.
Implementation Notes
MuJoCo has 2 modes with different coordinate systems for bodies
-
paused
mode where all translations and rotations are extracted frommj_Model
inMuJoCo-Rust
asbody.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 withbody_tree()
call. Thenbody_tree
is spawned into the bevy world recursively — a nice contraption to do it insetup_mujoco
. -
simulation
mode where translations are extracted fromsim.xpos()
andsim.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 insimulate_physics
.
Getting Started
MuJoCo Dependency
MuJoCo
2.3.5 installed in~/.local/mujoco
for Linux orC:/Program Files/Mujoco
for Windows- nightly Rust. Compile with
cargo +nightly build
Usage
// 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;
}
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
submobule with
cd bevy_mujoco
git submodule init
git submodule update
See example for simulating Unitree A1 robot.
Dependencies
~23–39MB
~596K SLoC