Difference between revisions of "MuJoCo WASM"

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(Running in Browser)
(Running in Browser)
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http://localhost:8000/index.html
 
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[[File:Wasm screenshot13-40-40.png|800px|thumb|none|MuJoCo running in browser]]

Revision as of 20:42, 19 May 2024

Install emscripten

First, you need to install emscripten, which is a compiler toolchain for WebAssembly.

Get the emsdk repo

git clone https://github.com/emscripten-core/emsdk.git

Enter that directory

cd emsdk

Download and install the latest SDK tools

./emsdk install latest

Make the "latest" SDK "active"

./emsdk activate latest

Activate PATH and other environment variables

source ./emsdk_env.sh

These variables are set for the current terminal. If you want to make it for all terminals, you can add them to any terminal profile. Here they are:

The environment variables: EMSDK = < path to emsdk dir >

EM_CONFIG = ~/.emscripten

EMSDK_NODE = < path to emsdk dir >/node/12.9.1_64bit/bin/node

Now just try it!

emcc


Build the mujoco_wasm Binary

Next, you'll build the MuJoCo WebAssembly binary.

mkdir build
cd build
emcmake cmake ..
make


emcmake cmake ..


make

Tip: If you get an error with "undefined symbol: saveSetjmp/testSetjmp" at the build step, revert to: ./emsdk install 3.1.56 && ./emsdk activate 3.1.56 && source ./emsdk_env.sh

Running in Browser

Now just do in the root of your mujoco folder

python -m http.server 8000

Then navigate to:

http://localhost:8000/index.html

MuJoCo running in browser