initial commit

.github/workflows/main.yml

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+name: Build mujoco_wasm
+
+on:
+  pull_request:
+  push:
+
+jobs:
+  Build:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v3
+
+      - uses: mymindstorm/setup-emsdk@v11
+
+      - name: Verify Emscripten is Installed
+        run: emcc -v
+
+      - name: Linux - Build Base Binary
+        if: runner.os == 'Linux'
+        run: |
+          mkdir build
+          cd build
+          emcmake cmake ..
+          make
+
+      - name: Linux - Upload Build
+        uses: actions/upload-artifact@v3
+        if: runner.os == 'Linux'
+        with:
+          name: mujoco_wasm
+          path: |
+            ./README.md
+            ./build
+            ./dist

.gitignore

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+# Compiled Object files
+**/.DS_Store
+*.slo
+*.lo
+*.o
+*.pyc
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+**/cmake-build-debug
+**/CMakeCache.txt
+**/cmake_install.cmake
+**/install_manifest.txt
+**/CMakeFiles/
+**/CTestTestfile.cmake
+**/Makefile
+**/*.cbp
+**/CMakeScripts
+**/compile_commands.json
+
+include/divisible/*
+
+
+## Local 
+
+.idea/*.xml
+
+build/**/*
+
+include/*
+lib/*
+bin/*
+test/test_runner
+.vscode
+.cache
+.fiveserverrc
+
+# Dependency directories
+node_modules/**/*
+jspm_packages/
+
+# Three.js Build
+!node_modules/three/
+!node_modules/three/*/
+!node_modules/three/build/*
+# Three.js Controls
+!node_modules/three/examples/*/
+!node_modules/three/examples/jsm/
+!node_modules/three/examples/jsm/*/
+!node_modules/three/examples/jsm/controls/
+!node_modules/three/examples/jsm/controls/OrbitControls.js
+!node_modules/three/examples/jsm/controls/DragControls.js
+!node_modules/three/examples/jsm/libs/
+!node_modules/three/examples/jsm/libs/lil-gui.module.min.js
+#!node_modules/three/examples/jsm/utils/
+#!node_modules/three/examples/jsm/utils/*
+#!node_modules/three/examples/jsm/loaders/
+#!node_modules/three/examples/jsm/loaders/*

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.2)
+option(JS_ONLY "Compiles to native JS (No WASM)" OFF)
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/dist")
+
+project(mujoco_wasm)
+
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")
+
+set(CMAKE_INSTALL_PREFIX ${PROJECT_SOURCE_DIR})
+
+set(MUJOCO_INSTALL_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/include)
+set(MUJOCO_INSTALL_BIN_DIR ${PROJECT_SOURCE_DIR}/bin)
+set(MUJOCO_INSTALL_LIB_DIR ${PROJECT_SOURCE_DIR}/lib)
+
+include_directories(${MUJOCO_INSTALL_INCLUDE_DIR})
+link_directories(${MUJOCO_INSTALL_LIB_DIR})
+
+add_subdirectory(src)

LICENSE

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+MIT License
+
+Copyright (c) 2017 Konstantin Gredeskoul
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

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+<p align="center">
+  <a href="https://zalo.github.io/mujoco_wasm/"><img src="./examples/MuJoCoWasmLogo.png" href></a>
+</p>
+<p align="left">
+  <a href="https://github.com/zalo/mujoco_wasm/deployments/activity_log?environment=github-pages">
+      <img src="https://img.shields.io/github/deployments/zalo/mujoco_wasm/github-pages?label=Github%20Pages%20Deployment" title="Github Pages Deployment"></a>
+  <!--<a href="https://github.com/zalo/mujoco_wasm/deployments/activity_log?environment=Production">
+      <img src="https://img.shields.io/github/deployments/zalo/mujoco_wasm/Production?label=Vercel%20Deployment" title="Vercel Deployment"></a> -->
+  <!--<a href="https://lgtm.com/projects/g/zalo/mujoco_wasm/context:javascript">
+      <img alt="Language grade: JavaScript" src="https://img.shields.io/lgtm/grade/javascript/g/zalo/mujoco_wasm.svg?logo=lgtm&logoWidth=18"/></a> -->
+  <a href="https://github.com/zalo/mujoco_wasm/commits/main">
+      <img src="https://img.shields.io/github/last-commit/zalo/mujoco_wasm" title="Last Commit Date"></a>
+  <a href="https://github.com/zalo/mujoco_wasm/blob/main/LICENSE">
+      <img src="https://img.shields.io/badge/license-MIT-brightgreen" title="License: MIT"></a>
+</p>
+
+## The Power of MuJoCo in your Browser.
+
+Load and Run MuJoCo 2.3.1 Models using JavaScript and WebAssembly.
+
+This repo is a fork of @stillonearth 's starter repository, adding tons of functionality and a comprehensive example scene.
+
+### [See the Live Demo Here](https://zalo.github.io/mujoco_wasm/)
+
+### [See a more Advanced Example Here](https://kzakka.com/robopianist/)
+
+## Building
+
+**1. Install emscripten**
+
+**2. Build the mujoco_wasm Binary**
+
+On Linux, use:
+```bash
+mkdir build
+cd build
+emcmake cmake ..
+make
+```
+
+On Windows, run `build_windows.bat`.
+
+*3. (Optional) Update MuJoCo libs*
+
+Build MuJoCo libs with wasm target and place to lib. Currently v2.3.1 included.
+
+## JavaScript API
+
+```javascript
+import load_mujoco from "./mujoco_wasm.js";
+
+// Load the MuJoCo Module
+const mujoco = await load_mujoco();
+
+// Set up Emscripten's Virtual File System
+mujoco.FS.mkdir('/working');
+mujoco.FS.mount(mujoco.MEMFS, { root: '.' }, '/working');
+mujoco.FS.writeFile("/working/humanoid.xml", await (await fetch("./examples/scenes/humanoid.xml")).text());
+
+// Load in the state from XML
+let model       = new mujoco.Model("/working/humanoid.xml");
+let state       = new mujoco.State(model);
+let simulation  = new mujoco.Simulation(model, state);
+```
+
+Typescript definitions are available.
+
+## Work In Progress Disclaimer
+
+So far, most mjModel and mjData state variables and functions (that do not require custom structs) are exposed.
+
+At some point, I'd like to de-opinionate the binding and make it match the original MuJoCo API better.

build_windows.bat

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+rem This script requires that the Emscripten SDK has been set up in the directory above this one.
+rem Follow the instructions here: https://emscripten.org/docs/getting_started/downloads.html
+
+call python src/parse_mjxmacro.py
+rmdir /s /q build
+call ../emsdk/emsdk activate latest
+mkdir build
+cd build
+call emcmake cmake ..
+call emmake make
+cd ../dist
+pause