MuJoCo is fantastic! Here is a set of Odin bindings for MuJoCo 3.8.0.

1. Use odin-c-bindgen with the bindgen.sjson included here to make a rough first pass.
2. Update several fields to bit_set:

• mjdata.odin : tState
• mjModel.odin : tDisableBit
• mjModel.odin : tEnableBit

3. Convert all array pointers to multi-pointers. Search regex: ^.*\(.* x .*\)

4. Remove the mj_ prefix from foreign functions in mujoco.odin and add in the linked library loading.

5. Delete otherwise-empty files.

6. Change functions taking integers to enum types.

• What to do with the mju_ prefix functions?

1. Download MuJoCo
2. Copy the dylib into the project: cp /Volumes/MuJoCo/mujoco.framework/Versions/A/libmujoco.3.8.0.dylib ~/GitHub/sotibot/mujoco/
3. Fix the tool name by running this for your directory: install_name_tool -change @rpath/mujoco.framework/Versions/A/libmujoco.3.8.0.dylib @executable_path/libmujoco.3.8.0.dylib ~/GitHub/sotibot/mujoco/tests/prog.bin