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This includes MuJoCo 2.3.1 built as static library and a simple example application.\r\n\r\n## Usage\r\n\r\n**1. Install emscripten**\r\n\r\n**2. Build MuJoCo-WASM application**\r\n\r\n```bash\r\nmkdir build\r\ncd build\r\nemcmake cmake ..\r\nmake\r\n```\r\n\r\n## JavaScript API\r\n\r\n**Model**\r\n\r\n| method        | description                 |\r\n| ------------- | --------------------------- |\r\n| load_from_xml | Load model from xml string  |\r\n| ptr           | Get pointer to MuJoCo model |\r\n| val           | Get MuJoCo model value      |\r\n| names         | Get names of model          |\r\n| mesh_vertadr  | Get mesh vertex address     |\r\n| mesh_vertnum  | Get mesh vertex number      |\r\n| mesh_faceadr  | Get mesh face address       |\r\n| mesh_facenum  | Get mesh face number        |\r\n| body_parentid | Get body parent id          |\r\n| body_geomnum  | Get body geometry number    |\r\n| body_geomadr  | Get body geometry address   |\r\n| geom_type     | Get geometry type           |\r\n| geom_bodyid   | Get geometry body id        |\r\n| geom_group    | Get geometry group          |\r\n| geom_contype  | Get geometry contact type   |\r\n| mesh_normal   | Get mesh normal             |\r\n| mesh_face     | Get mesh face               |\r\n| mesh_vert     | Get mesh vertex             |\r\n| name_meshadr  | Get name mesh address       |\r\n| geom_pos      | Get geometry position       |\r\n| geom_quat     | Get geometry quaternion     |\r\n| geom_size     | Get geometry size           |\r\n| geom_rgba     | Get geometry rgba           |\r\n| body_pos      | Get body position           |\r\n| body_quat     | Get body quaternion         |\r\n\r\n**State**\r\n\r\n| method | description                 |\r\n| ------ | --------------------------- |\r\n| ptr    | Get pointer to MuJoCo state |\r\n| val    | Get MuJoCo state value      |\r\n\r\n**Simulation**\r\n\r\n| method | description          |\r\n| ------ | -------------------- |\r\n| step   | Step simulation      |\r\n| state  | Get simulation state |\r\n| model  | Get simulation model |\r\n| xquat  | Get quaternion       |\r\n| xpos   | Get position         |\r\n| xmat   | Get matrix           |\r\n","readmeFilename":"README.md"}