Difference between revisions of "MuJoCo WASM"
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== Building == | == Building == | ||
| − | |||
=== 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. | ||
| − | + | ==== 1.1. Get the emsdk repo ==== | |
| − | === 1. Get the emsdk repo === | ||
<code> | <code> | ||
git clone https://github.com/emscripten-core/emsdk.git | git clone https://github.com/emscripten-core/emsdk.git | ||
</code> | </code> | ||
| − | === 2. Enter that directory === | + | ==== 1.2. Enter that directory ==== |
<code> | <code> | ||
cd emsdk | cd emsdk | ||
</code> | </code> | ||
| − | === 3. Download and install the latest SDK tools === | + | ==== 1.3. Download and install the latest SDK tools ==== |
<code> | <code> | ||
./emsdk install latest | ./emsdk install latest | ||
</code> | </code> | ||
| − | === 4. Make the "latest" SDK "active" === | + | ==== 1.4. Make the "latest" SDK "active" ==== |
<code> | <code> | ||
./emsdk activate latest | ./emsdk activate latest | ||
</code> | </code> | ||
| − | === 5. Activate PATH and other environment variables === | + | ==== 1.5. Activate PATH and other environment variables ==== |
<code> | <code> | ||
source ./emsdk_env.sh | source ./emsdk_env.sh | ||
| Line 42: | Line 40: | ||
</code> | </code> | ||
| − | === 6. Now just try it! === | + | ==== 1.6. Now just try it! ==== |
<code> | <code> | ||
emcc | emcc | ||
</code> | </code> | ||
| + | |||
| + | '''Tip:''' If you get an error with "undefined symbol: saveSetjmp/testSetjmp" at the build step, revert to: | ||
| + | <code> | ||
| + | ./emsdk install 3.1.56 && ./emsdk activate 3.1.56 && source ./emsdk_env.sh | ||
| + | </code> | ||
| + | |||
Revision as of 19:31, 19 May 2024
Building
1. Install emscripten
First, you need to install emscripten, which is a compiler toolchain for WebAssembly.
1.1. Get the emsdk repo
git clone https://github.com/emscripten-core/emsdk.git
1.2. Enter that directory
cd emsdk
1.3. Download and install the latest SDK tools
./emsdk install latest
1.4. Make the "latest" SDK "active"
./emsdk activate latest
1.5. 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
1.6. Now just try it!
emcc
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
2. Build the mujoco_wasm Binary
Next, you'll build the MuJoCo WebAssembly binary.
On Linux
mkdir build
cd build
emcmake cmake ..
make
