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MuJoCo-WASM

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Emscripten builds of MuJoCo

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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](https://github.com/stillonearth/MuJoCo-WASM/issues/1#issuecomment-1495814568).

**1. Install emscripten**

**2. Build MuJoCo-WASM application**

```bash
mkdir build
cd build
emcmake cmake ..
make
```

## JavaScript API

```bash
npm install mujoco-wasm --save
```

```javascript
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         |

MuJoCo-WASM

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