Difference between revisions of "MuJoCo WASM"
(→Add install process) |
(→emscripten instructions) |
||
| Line 3: | Line 3: | ||
=== 1. Install emscripten === | === 1. Install emscripten === | ||
First, you need to install emscripten, which is a compiler toolchain for WebAssembly. | First, you need to install emscripten, which is a compiler toolchain for WebAssembly. | ||
| + | |||
| + | |||
| + | === 1. Get the emsdk repo === | ||
| + | <code> | ||
| + | git clone https://github.com/emscripten-core/emsdk.git | ||
| + | </code> | ||
| + | |||
| + | === 2. Enter that directory === | ||
| + | <code> | ||
| + | cd emsdk | ||
| + | </code> | ||
| + | |||
| + | === 3. Download and install the latest SDK tools === | ||
| + | <code> | ||
| + | ./emsdk install latest | ||
| + | </code> | ||
| + | |||
| + | === 4. Make the "latest" SDK "active" === | ||
| + | <code> | ||
| + | ./emsdk activate latest | ||
| + | </code> | ||
| + | |||
| + | === 5. Activate PATH and other environment variables === | ||
| + | <code> | ||
| + | source ./emsdk_env.sh | ||
| + | </code> | ||
| + | |||
| + | 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: | ||
| + | |||
| + | <code> | ||
| + | EMSDK = < path to emsdk dir > | ||
| + | |||
| + | EM_CONFIG = ~/.emscripten | ||
| + | |||
| + | EMSDK_NODE = < path to emsdk dir >/node/12.9.1_64bit/bin/node | ||
| + | </code> | ||
| + | |||
| + | === 6. Now just try it! === | ||
| + | <code> | ||
| + | emcc | ||
| + | </code> | ||
| + | |||
=== 2. Build the mujoco_wasm Binary === | === 2. Build the mujoco_wasm Binary === | ||
Revision as of 19:15, 19 May 2024
Contents
Building
1. Install emscripten
First, you need to install emscripten, which is a compiler toolchain for WebAssembly.
1. Get the emsdk repo
git clone https://github.com/emscripten-core/emsdk.git
2. Enter that directory
cd emsdk
3. Download and install the latest SDK tools
./emsdk install latest
4. Make the "latest" SDK "active"
./emsdk activate latest
5. 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
6. Now just try it!
emcc
2. Build the mujoco_wasm Binary
Next, you'll build the MuJoCo WebAssembly binary.
On Linux
mkdir build
cd build
emcmake cmake ..
make
