WebAssembly Build (Emscripten)

Build the mujoco/ git submodule as a static WebAssembly library, link it with mujoco-rs, and run examples/basic.rs under Node.js.

Prerequisites

• emsdk at /home/davidhozic/repo/emsdk.
• rustup target add wasm32-unknown-emscripten already done.

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Step 1 -- Set up environment

source /home/davidhozic/repo/emsdk/emsdk_env.sh --no-check

Check that the mujoco/ submodule is at the version mujoco-rs expects (look for +mj-X.Y.Z in Cargo.toml). mjVERSION_HEADER encodes the version as MAJ*1000000 + MIN*1000 + PATCH (e.g. 3006000 = 3.6.0):

grep "^version" Cargo.toml | head -1
grep "mjVERSION_HEADER" mujoco/include/mujoco/mujoco.h | head -1

If the versions differ, check out the right tag:

git -C mujoco checkout X.Y.Z

Note: git fetch is a disallowed networked operation. If the required tag is not present locally, ask the user to run git -C mujoco fetch --tags manually before proceeding.

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Step 2 -- Configure MuJoCo for WebAssembly

emcmake cmake -S mujoco -B mujoco/build/wasm

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Step 3 -- Build MuJoCo

MuJoCo's CMakeLists.txt adds -fexceptions for Emscripten, which uses JS-based sjlj and generates emscripten_longjmp (JS-only). EMCC_CFLAGS appends flags to every emcc invocation after all cmake-managed flags, so -fwasm-exceptions overrides -fexceptions (last flag wins) and switches to wasm-native sjlj (__wasm_longjmp, present in the static sysroot).

EMCC_CFLAGS="-fwasm-exceptions" cmake --build mujoco/build/wasm --target mujoco --parallel 8

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Step 4 -- Build and run the Rust example

LIB_DIR=$(realpath mujoco/build/wasm/lib)
EMCC_CFLAGS="-fwasm-exceptions" MUJOCO_STATIC_LINK_DIR="$LIB_DIR" \
    cargo build --example basic --target wasm32-unknown-emscripten

NODE_BIN="$(command -v node 2>/dev/null || echo '/home/davidhozic/repo/emsdk/node/22.16.0_64bit/bin/node')"
"$NODE_BIN" target/wasm32-unknown-emscripten/debug/examples/basic.js

Expected output: Step 0 through Step 999.

Memory growth for complex models

The Emscripten WASM heap defaults to 16 MB. Headless examples that programmatically build complex models (many geoms, tendons, or connected bodies) can exceed this limit during mj_compile() and panic with "Could not allocate memory". Pass -sALLOW_MEMORY_GROWTH=1 together with -sMAXIMUM_MEMORY=512MB (to cap unbounded heap growth) as linker arguments via RUSTFLAGS:

EMCC_CFLAGS="-fwasm-exceptions" MUJOCO_STATIC_LINK_DIR="$LIB_DIR" \
    RUSTFLAGS="-C link-arg=-sALLOW_MEMORY_GROWTH=1 -C link-arg=-sMAXIMUM_MEMORY=512MB" \
    cargo build --example <your_example> --target wasm32-unknown-emscripten

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Step 5 -- Serve examples in the browser (optional)

assets/wasm_examples.html provides a simple browser UI for running WASM examples. First copy it next to the compiled .js/.wasm files:

EXAMPLES_DIR="target/wasm32-unknown-emscripten/debug/examples"
cp assets/wasm_examples.html "$EXAMPLES_DIR/index.html"

Then start the HTTP server using the Bash tool (see the launch-terminal skill for details):

python3 -m http.server 8080 --bind 127.0.0.1 \
    --directory target/wasm32-unknown-emscripten/debug/examples

Open http://127.0.0.1:8080/ and click > Run basic. Reload the page (F5) between runs to reset the Emscripten globals cleanly.

To stop the server: kill <PID>.

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Running natively (without WASM)

Check Cargo.toml for the current MuJoCo version (+mj-X.Y.Z) and replace X.Y.Z below:

LIB_PATH=$(realpath mujoco-X.Y.Z/lib)
MUJOCO_DYNAMIC_LINK_DIR="$LIB_PATH" LD_LIBRARY_PATH="$LIB_PATH" \
    cargo run --example basic