Matias Manevi
4086261714
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
65 lines
2.0 KiB
TypeScript
65 lines
2.0 KiB
TypeScript
// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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import { MainModule, MjData, MjModel } from "../../dist/mujoco_wasm"
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import loadMujoco from "../../dist/mujoco_wasm.js"
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declare function loadMujoco(): Promise<MainModule>;
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async function main() {
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const mujoco: MainModule = await loadMujoco();
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(mujoco as any).FS.mkdir('/working');
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(mujoco as any).FS.mount((mujoco as any).MEMFS, {root: '.'}, '/working');
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const xmlContent = `
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<mujoco model="Box falling">
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<option viscosity="1"/>
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<worldbody>
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<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
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<geom name="MyFloor" type="plane" size="1 1 0.1" rgba=".9 0 0 1" user="5 4 3 2 1"/>
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<geom name="MyWall" type="plane" size="0.1 1 0.1" rgba="0 1 0 1" user="5 4 3"/>
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<body pos="0 0 1" name="MyBox">
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<joint type="free"/>
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<geom name="MyBoxGeom" type="box" size=".1 .2 .3" rgba="0 .9 0 1"/>
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</body>
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</worldbody>
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</mujoco>`;
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(mujoco as any).FS.writeFile('/working/hello.xml', xmlContent);
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let model: MjModel|undefined;
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let data: MjData|undefined;
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try {
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console.log('Hello world!: Loading model');
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model = mujoco.MjModel.loadFromXML('/working/hello.xml');
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if (!model) {
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throw new Error('Failed to load model');
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}
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data = new mujoco.MjData(model);
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if (!data) {
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throw new Error('Failed to load data');
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}
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// Add your test code here...
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} finally {
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model?.delete();
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data?.delete();
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(mujoco as any).FS.unmount('/working');
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}
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}
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main()
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