菜单
Build MuJoCo from the mujoco/ submodule as a WebAssembly static library and run an example under Node.js via Emscripten. Use this when asked to build for WebAssembly / WASM / Emscripten, or to run examples in Node.js.
用 Codex 或 Claude 帮你安装 复制这段 Prompt，粘贴到 Codex、Claude 或其他助手里，让它检查 Skill 页面并帮你完成安装。
基于 SOC 职业分类
Build rustdoc and Sphinx documentation, verifying both for warnings, broken links, content correctness, and changelog/migration completeness against the code. Use this when asked to build docs, check doc comments, or verify documentation.
Pre-release preparation and verification workflow for cutting a new mujoco-rs version. Use this when asked to prepare a release, do a pre-release check, cut version X.Y.Z, or verify the crate is ready to publish. Runs every gate the maintainer needs before publishing, then hands off the networked publish steps.
Systematically verify correctness of the mujoco-rs wrapper layer using parallel subagents. Use this when asked to audit, verify, or deeply check the codebase for bugs.
Audit the impact of regenerated MuJoCo FFI bindings (the ffi-regenerate Cargo feature) on the wrapper layer. Diffs src/mujoco_c.rs, reads the MuJoCo changelog entries for the version range, deep-verifies every changed item against the C/C++ source, and writes a self-contained HTML report suggesting required wrapper additions/removals/updates. Strictly read-only -- it suggests changes but never edits code. Use after regenerating the FFI bindings or bumping the MuJoCo version.
Adversarial multi-agent soundness audit of the mujoco-rs SAFE API surface -- memory safety, thread safety (every unsafe impl Send/Sync), &self vs &mut self mutability, and lifetime/variance correctness, restricted to defects reachable from 100% safe code. Produces a single self-contained HTML report. Use when asked to audit/check the crate for unsoundness or undefined behavior reachable from safe code. Distinct from /verify (which covers stride/length-field/type correctness).
Run AddressSanitizer and UndefinedBehaviorSanitizer on the Rust+C FFI boundary. Use this when asked to check for memory errors, undefined behavior, or when verifying FFI safety.
| name | wasm-build |
| description | Build MuJoCo from the mujoco/ submodule as a WebAssembly static library and run an example under Node.js via Emscripten. Use this when asked to build for WebAssembly / WASM / Emscripten, or to run examples in Node.js. |
Build the mujoco/ git submodule as a static WebAssembly library, link it with mujoco-rs, and run examples/basic.rs under Node.js.
/home/davidhozic/repo/emsdk.rustup target add wasm32-unknown-emscripten already done.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 fetchis a disallowed networked operation. If the required tag is not present locally, ask the user to rungit -C mujoco fetch --tagsmanually before proceeding.
emcmake cmake -S mujoco -B mujoco/build/wasm
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
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.
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="$LIB_DIR" \
RUSTFLAGS="-C link-arg=-sALLOW_MEMORY_GROWTH=1 -C link-arg=-sMAXIMUM_MEMORY=512MB" \
cargo build --example <your_example> --target wasm32-unknown-emscripten
assets/wasm_examples.html provides a simple browser UI for running WASM examples.
First copy it next to the compiled .js/.wasm files:
EXAMPLES_DIR="target/wasm32-unknown-emscripten/debug/examples"
cp assets/wasm_examples.html "$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>.
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