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MuJoCo WASM

1,009 bytes added, 23:09, 27 May 2024

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== Build the mujoco_wasm Binary ==

First git clone

<code> https://github.com/zalo/mujoco_wasm </code>

Next, you'll build the MuJoCo WebAssembly binary.

== Running in Browser ==

~~Now just do~~ Run this in ~~the root of~~ your mujoco folderto start a server.

<code>

</code>

[[File:Wasm screenshot13-40-40.png|800px|thumb|none|MuJoCo running in browser]]

== Running in Cloud/Cluster and Viewing on Local Machine ==

Add extra parameter to your ssh command:

<code>

ssh -L 8000:127.0.0.1:8000 my_name@my_cluster_ip

</code>

Then you can open it on the browser on your local machine!

== Adding New Models ==

All the models are stored in the folder examples/scenes, as seen below:

[[File:Example folder.png|400px|thumb|none]]

You can add your own model XML and meshes here. For example, here we add the stompy folder.

After adding the model files, run

<code>

python generate_index.py

</code>

to update file indexes.

Then copy all the content in <code>index.json</code> to <code> mujocoUtils.js</code>, as shown below:

[[File:Add model1.png|400px|thumb|none]]

In the end, again at file <code> mujocoUtils.js</code>, add the name and scene file

[[File:Add model2.png|600px|thumb|none]]

Then reload again and you can see new models have been added:

[[File:Add model3.png|800px|thumb|none]]

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