MuJoCo WASM Play

MuJoCo WASM Play is a static, browser-based MuJoCo viewer that brings the MuJoCo Simulate workflow to the web: open a URL and start simulating.

Play is designed for end users: load a model, run/pause/step, inspect options and stats, and share a reproducible link.

Live demo

• Recommended demo page

• Direct GitHub Pages app

Quickstart

Serve the repo root and open a URL:

python tools/dev_server.py --root . --port 8000
http://127.0.0.1:8000/index.html?model=raj

Highlights

• Simulate-style UI in the browser (panels + controls).

• Shareable, reproducible links via URL parameters (model=, forgeBase=).

• Performance-first runtime: MuJoCo runs in a Worker; the built-in HUD (press F2) exposes CPU timing and stats.

• Extensible: plugins can add foldable UI sections, panel actions, and 3D overlays (see Plugin contract).

Start here

• User Guide
  • Overview
  • Architecture
  • UI and Controls
• How-to Guides
  • Run locally
  • Host as static files
  • Load models
  • Write a plugin
  • Troubleshoot
• Reference
  • URL parameters
  • Runtime configuration
  • Plugin contract
  • Plugin Development Contract
  • Compatibility
  • Security model
  • Limitations
• FAQ

For developers

• Developer Guide
  • Repo layout
  • Dev workflow
  • Release and versioning
  • Testing
• API Reference
  • Runtime lifecycle
  • Internal modules
  • Code inventory
  • JavaScript API
  • Plugin API
  • Worker message protocol
  • Python dev server
• Contributing
• Changelog