chenlin/Mujoco_WASM
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Add JavaScript bindings and WASM support

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Co-authored-by: Matija Kecman <matijak@google.com>
Co-authored-by: Sebastian Noreña Rendón <sebas.norena@creativa77.com.ar>
Co-authored-by: Kyle Bayes <kylebayes@google.com>
PiperOrigin-RevId: 826479070
Change-Id: I25acf36e6c20b091d8492e10798d028ae66f6733
This commit is contained in:
Matias Manevi
2025-10-31 07:20:18 -07:00
committed by Copybara-Service
parent 57f7145806
commit 4086261714
58 changed files with 24418 additions and 22 deletions
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.github/workflows/build.yml
+55
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@@ -136,6 +136,7 @@ jobs:
steps:
- uses: actions/checkout@v3
- name: Prepare Linux
if: ${{ runner.os == 'Linux' }}
run: >
@@ -148,12 +149,15 @@ jobs:
libxrandr-dev
libxi-dev
ninja-build
- name: Prepare macOS
if: ${{ runner.os == 'macOS' }}
run: brew install ninja
- uses: actions/setup-python@v4
with:
python-version: "3.11"
- name: Prepare Python
shell: bash
run: |
@@ -169,6 +173,26 @@ jobs:
source venv/bin/activate
python -m pip install --upgrade --require-hashes -r "${repo}/python/build_requirements.txt"
python -m pip install --upgrade --require-hashes -r "${repo}/python/build_requirements_usd.txt"
- name: Setup Node.js for WASM
if: ${{ runner.os == 'Linux' }}
uses: actions/setup-node@v4
with:
node-version: '20'
- name: Install NPM Dependencies for WASM
if: ${{ runner.os == 'Linux' }}
working-directory: wasm
run: |
npm ci
- name: Setup Emscripten
if: ${{ runner.os == 'Linux' }}
run: |
git clone https://github.com/emscripten-core/emsdk.git
./emsdk/emsdk install 4.0.10
./emsdk/emsdk activate 4.0.10
- name: Configure MuJoCo
run: >
mkdir build &&
@@ -179,9 +203,11 @@ jobs:
-DCMAKE_INSTALL_PREFIX:STRING=${{ matrix.tmpdir }}/mujoco_install
-DMUJOCO_BUILD_EXAMPLES:BOOL=OFF
${{ matrix.cmake_args }}
- name: Build MuJoCo
working-directory: build
run: cmake --build . --config=Release ${{ matrix.cmake_build_args }}
- name: Copy in the correct VC runtime DLLs (workaround for actions/runner-images#10004)
if: ${{ runner.os == 'Windows' }}
working-directory: build
@@ -192,12 +218,15 @@ jobs:
-Path "C:\Program Files\Microsoft Visual Studio\2022\Enterprise\VC\Redist\MSVC\14.*" |
Sort -Descending | Select-Object -First 1).FullName
) 'x64\Microsoft.VC143.CRT\*.dll') "bin\Release"
- name: Test MuJoCo
working-directory: build
run: ctest -C Release --output-on-failure .
- name: Install MuJoCo
working-directory: build
run: cmake --install .
- name: Copy plugins (POSIX)
if: ${{ runner.os != 'Windows' }}
working-directory: build
@@ -206,6 +235,7 @@ jobs:
cp lib/libelasticity.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
cp lib/libsensor.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
cp lib/libsdf_plugin.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin
- name: Copy plugins (Windows)
if: ${{ runner.os == 'Windows' }}
working-directory: build
@@ -213,6 +243,7 @@ jobs:
cp bin/Release/actuator.dll ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
cp bin/Release/elasticity.dll ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
cp bin/Release/sensor.dll ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin
- name: Configure samples
working-directory: sample
run: >
@@ -223,9 +254,11 @@ jobs:
-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
-Dmujoco_ROOT:STRING=${{ matrix.tmpdir }}/mujoco_install
${{ matrix.cmake_args }}
- name: Build samples
working-directory: sample/build
run: cmake --build . --config=Release ${{ matrix.cmake_build_args }}
- name: Configure simulate
working-directory: simulate
run: >
@@ -236,15 +269,18 @@ jobs:
-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
-Dmujoco_ROOT:STRING=${{ matrix.tmpdir }}/mujoco_install
${{ matrix.cmake_args }}
- name: Build simulate
working-directory: simulate/build
run: cmake --build . --config=Release ${{ matrix.cmake_build_args }}
- name: Make Python sdist
shell: bash
working-directory: python
run: >
source ${{ matrix.tmpdir }}/venv/bin/activate &&
./make_sdist.sh
- name: Build Python bindings
if: ${{ runner.os != 'Windows' }}
shell: bash
@@ -255,6 +291,7 @@ jobs:
MUJOCO_PLUGIN_PATH="${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin"
MUJOCO_CMAKE_ARGS="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF ${{ matrix.cmake_args }}"
pip wheel -v --no-deps mujoco-*.tar.gz
- name: Install Python bindings
if: ${{ runner.os != 'Windows' }}
shell: bash
@@ -262,6 +299,7 @@ jobs:
run: >
source ${{ matrix.tmpdir }}/venv/bin/activate &&
pip install --no-index mujoco-*.whl
- name: Test Python bindings
if: ${{ runner.os != 'Windows' }}
shell: bash
@@ -270,6 +308,19 @@ jobs:
run: >
source ${{ matrix.tmpdir }}/venv/bin/activate &&
pytest -v --pyargs mujoco
- name: Build and Test WASM bindings
if: ${{ runner.os == 'Linux' }}
shell: bash
run: |
source emsdk/emsdk_env.sh
export PATH="$(pwd)/node_modules/.bin:$PATH"
emcmake cmake -B build_wasm -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
cmake --build build_wasm
npm run test --prefix ./wasm
- name: Package MJX
if: ${{ runner.os != 'Windows' }}
shell: bash
@@ -277,6 +328,7 @@ jobs:
run:
source ${{ matrix.tmpdir }}/venv/bin/activate &&
python -m build .
- name: Install MJX
if: ${{ runner.os != 'Windows' }}
shell: bash
@@ -285,6 +337,7 @@ jobs:
source ${{ matrix.tmpdir }}/venv/bin/activate &&
pip install --require-hashes -r requirements.txt &&
pip install --no-index dist/mujoco_mjx-*.whl
- name: Test MJX
if: ${{ runner.os != 'Windows' }}
shell: bash
@@ -292,6 +345,7 @@ jobs:
run:
source ${{ matrix.tmpdir }}/venv/bin/activate &&
pytest -n auto -v -k 'not IntegrationTest' --pyargs mujoco.mjx
- name: Notify team chat
shell: bash
env:
@@ -324,3 +378,4 @@ jobs:
-X POST \
-H "Content-Type: application/json" \
--data-raw "${CHATMSG}"