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MuJoCo-WASM

MuJoCo built with emscripten for use in JavaScript and WebAssembly. This includes MuJoCo v2.3.3 built as static library and a simple example application.

Usage

0. (Optional) Build MuJoCo libs with WASM targets

This repo includes built MuJoCo libs for v2.3.3. If you want to build your own, follow the instructions.

1. Install emscripten

2. Build MuJoCo-WASM application

mkdir build
cd build
emcmake cmake ..
make

JavaScript API

npm install mujoco-wasm --save
import { Model, Simulation, State, downloadFile } from "mujoco-wasm";

Utility Functions

method description
async downloadFile(path) Download file from url and store in MEMFS so that wasm module can read it

Model

method description
load_from_xml() Load model from xml string
ptr() Get pointer to MuJoCo model
val() Get MuJoCo model value
names() Get names of model
mesh_vertadr() Get mesh vertex address
mesh_vertnum() Get mesh vertex number
mesh_faceadr() Get mesh face address
mesh_facenum() Get mesh face number
body_parentid() Get body parent id
body_geomnum() Get body geometry number
body_geomadr() Get body geometry address
geom_type() Get geometry type
geom_bodyid() Get geometry body id
geom_group() Get geometry group
geom_contype() Get geometry contact type
mesh_normal() Get mesh normal
mesh_face() Get mesh face
mesh_vert() Get mesh vertex
name_meshadr() Get name mesh address
geom_pos() Get geometry position
geom_quat() Get geometry quaternion
geom_size() Get geometry size
geom_rgba() Get geometry rgba
body_pos() Get body position
body_quat() Get body quaternion

State

method description
ptr() Get pointer to MuJoCo state
val() Get MuJoCo state value

Simulation

method description
step() Step simulation
state() Get simulation state
model() Get simulation model
xquat() Get quaternion
xpos() Get position