Mujoco WASM Build From Source

Suggestions to Build MuJoCo WASM with Release 3.1.6

Note: These instructions relate to a WASM build MuJoCo from the DeepMind MuJoCo source on Github. If you want to build an existing WASM port of MuJoCo 2.3.1 check out MuJoCo_WASM

1. Clone the MuJoCo Repository:

   git clone --branch 3.1.6 https://github.com/deepmind/mujoco.git
   cd mujoco

2. Clone the Emscripten SDK Repository:

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

3. Install and Activate Emscripten:

   ./emsdk install latest
   ./emsdk activate latest
   source ./emsdk_env.sh
   cd ..

Proceed with the next steps once you've made suggested changes to your codebase to allow for a WASM build. You can see the changes here as a reference https://github.com/google-deepmind/mujoco/compare/main...vrtnis:mujoco:release-3.1.6

4. Prepare the Build Environment:

   mkdir build
   cd build

5. Run Emscripten CMake Commands:

   emcmake cmake ..
   emmake make

6. Deploy and Run Locally:

   emrun --no_browser --port 8080 .

7. Optional Cleanup and Repeat Steps if Necessary:

   rm -rf *
   emcmake cmake ..
   emmake make

8. Install the Build:

   cmake --install .
   sudo cmake --install .

Notes

• Ensure that the Emscripten environment is correctly activated before starting the build process.
• Regularly clean the build directory to maintain a clean build environment.