Difference between revisions of "MuJoCo WASM"
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== Build the mujoco_wasm Binary == | == Build the mujoco_wasm Binary == | ||
Next, you'll build the MuJoCo WebAssembly binary. | Next, you'll build the MuJoCo WebAssembly binary. | ||
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<code> | <code> | ||
mkdir build | mkdir build | ||
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emcmake cmake .. | emcmake cmake .. | ||
make | make | ||
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| + | '''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> | </code> | ||
Revision as of 19:49, 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
Build the mujoco_wasm Binary
Next, you'll build the MuJoCo WebAssembly binary.
mkdir build
cd build
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
