Difference between revisions of "MuJoCo WASM"
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| − | == | + | == 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. | ||
| − | === | + | === 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> | ||
| − | === | + | === Enter that directory === |
<code> | <code> | ||
cd emsdk | cd emsdk | ||
</code> | </code> | ||
| − | === | + | === Download and install the latest SDK tools === |
<code> | <code> | ||
./emsdk install latest | ./emsdk install latest | ||
</code> | </code> | ||
| − | === | + | === Make the "latest" SDK "active" === |
<code> | <code> | ||
./emsdk activate latest | ./emsdk activate latest | ||
</code> | </code> | ||
| − | === | + | === Activate PATH and other environment variables === |
<code> | <code> | ||
source ./emsdk_env.sh | source ./emsdk_env.sh | ||
| Line 38: | Line 38: | ||
</code> | </code> | ||
| − | === | + | === Now just try it! === |
<code> | <code> | ||
emcc | emcc | ||
| Line 48: | Line 48: | ||
</code> | </code> | ||
| − | == | + | == Build the mujoco_wasm Binary == |
Next, you'll build the MuJoCo WebAssembly binary. | Next, you'll build the MuJoCo WebAssembly binary. | ||
| − | === | + | === On Linux === |
<code> | <code> | ||
mkdir build | mkdir build | ||
Revision as of 19:47, 19 May 2024
Contents
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
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
Build the mujoco_wasm Binary
Next, you'll build the MuJoCo WebAssembly binary.
On Linux
mkdir build
cd build
emcmake cmake ..
make
