MuJoCo WASM

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