Awesome

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