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

``bash
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 |