11
edits
Changes
no edit summary
== Build the mujoco_wasm Binary ==
First git clone
<code> https://github.com/zalo/mujoco_wasm </code>
Next, you'll build the MuJoCo WebAssembly binary.
<syntaxhighlight lang="bash">
make
</syntaxhighlight>
[[File:Carbon (1).png|800px|thumb|none|emcmake cmake ..]]
[[File:Carbon (2).png|400px|thumb|none|make]]
'''Tip:''' If you get an error with "undefined symbol: saveSetjmp/testSetjmp" at the build step, revert to:
./emsdk install 3.1.56 && ./emsdk activate 3.1.56 && source ./emsdk_env.sh
</code>
== Running in Browser ==
Run this in your mujoco folder to start a server.
<code>
python -m http.server 8000
</code>
Then navigate to:
<code>
http://localhost:8000/index.html
</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]]
