MuJoCo-WASM

MuJoCo built with emscripten for use in JavaScript and WebAssembly. This includes MuJoCo 2.3.1 built as static library and a simple example application.

Usage

1. Install emscripten

2. Build MuJoCo-WASM application

mkdir build
cd build
emcmake cmake ..
make

JavaScript API

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 | | xmat | Get matrix |