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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: 826109484
Change-Id: I327fd54122762bd2e239cc31c602a3eb73051c26
This commit is contained in:
Matija Kecman
2025-10-30 11:10:55 -07:00
committed by Copybara-Service
parent 76e64d96bb
commit f2badc05ac
56 changed files with 22 additions and 24362 deletions
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wasm/tests/sandbox/index.html
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<!--
Copyright 2025 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />
<title>MuJoCo WebAssembly</title>
</head>
<body>
<script type="module" src="./main.ts"></script>
</body>
</html>
wasm/tests/sandbox/main.ts
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// Copyright 2025 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
import { MainModule, MjData, MjModel } from "../../dist/mujoco_wasm"
import loadMujoco from "../../dist/mujoco_wasm.js"
declare function loadMujoco(): Promise<MainModule>;
async function main() {
const mujoco: MainModule = await loadMujoco();
(mujoco as any).FS.mkdir('/working');
(mujoco as any).FS.mount((mujoco as any).MEMFS, {root: '.'}, '/working');
const xmlContent = `
<mujoco model="Box falling">
<option viscosity="1"/>
<worldbody>
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
<geom name="MyFloor" type="plane" size="1 1 0.1" rgba=".9 0 0 1" user="5 4 3 2 1"/>
<geom name="MyWall" type="plane" size="0.1 1 0.1" rgba="0 1 0 1" user="5 4 3"/>
<body pos="0 0 1" name="MyBox">
<joint type="free"/>
<geom name="MyBoxGeom" type="box" size=".1 .2 .3" rgba="0 .9 0 1"/>
</body>
</worldbody>
</mujoco>`;
(mujoco as any).FS.writeFile('/working/hello.xml', xmlContent);
let model: MjModel|undefined;
let data: MjData|undefined;
try {
console.log('Hello world!: Loading model');
model = mujoco.MjModel.loadFromXML('/working/hello.xml');
if (!model) {
throw new Error('Failed to load model');
}
data = new mujoco.MjData(model);
if (!data) {
throw new Error('Failed to load data');
}
// Add your test code here...
} finally {
model?.delete();
data?.delete();
(mujoco as any).FS.unmount('/working');
}
}
main()
wasm/tests/sandbox/vite.sandbox.config.ts
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// Copyright 2025 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
import { defineConfig } from "vite"
export default defineConfig({
root: 'tests/sandbox',
base: './',
build: {
outDir: '../../sandbox-dist',
emptyOutDir: true,
},
server: {
open: true,
},
})