WASM Backend and Bindings

.gitignore

@@ -1,4 +1,5 @@
 build/
+build-wasm/
 .cache/
 compile_commands.json
 *.out.*
@@ -19,3 +20,5 @@ venv/
 /resources/panda/*.pkl
 src/vamp/_core/*.pyi
 /.mypy_cache/
+.DS_store
+vamp-web/

CMakeLists.txt

@@ -10,6 +10,7 @@ option(VAMP_INSTALL_CPP_LIBRARY "Install VAMP C++ library (disable for Python wh
 option(VAMP_BUILD_CPP_DEMO "Build VAMP C++ Demo Scripts" OFF)
 option(VAMP_BUILD_OMPL_DEMO "Build VAMP C++ OMPL Integration Demo Scripts" OFF)
 option(VAMP_OMPL_PATH "Search Path for OMPL Installation - Only Needed for Demo Script" "")
+option(VAMP_BUILD_WASM "Build VAMP WebAssembly module" OFF)
 
 if(VAMP_FORCE_CLANG)
   find_program(CLANG "clang")
@@ -165,10 +166,37 @@ if(VAMP_BUILD_OMPL_DEMO)
   endif()
 endif()
 
+# WebAssembly build
+if(VAMP_BUILD_WASM)
+  include(EmscriptenBuild)
+
+  if(NOT VAMP_WASM_ROBOT_MODULES)
+    set(VAMP_WASM_ROBOT_MODULES panda fetch ur5)
+    set(VAMP_WASM_ROBOT_STRUCTS Panda Fetch UR5)
+  endif()
+
+  foreach(robot_name ROBOT_STRUCT IN ZIP_LISTS VAMP_WASM_ROBOT_MODULES VAMP_WASM_ROBOT_STRUCTS)
+    configure_file(
+      ${CMAKE_CURRENT_SOURCE_DIR}/src/impl/vamp/bindings/wasm/bindings.cc.in
+      ${CMAKE_CURRENT_BINARY_DIR}/wasm/${robot_name}_wasm_bindings.cc
+      @ONLY
+    )
+
+    vamp_create_wasm_module(${robot_name}_wasm
+      ${CMAKE_CURRENT_BINARY_DIR}/wasm/${robot_name}_wasm_bindings.cc
+    )
+
+    target_include_directories(${robot_name}_wasm PRIVATE
+      ${CMAKE_CURRENT_SOURCE_DIR}/src/impl
+    )
+  endforeach()
+endif()
+
 # Print build configuration
 message(STATUS "VAMP build configuration:")
 message(STATUS "  - C++ library: ON")
 message(STATUS "  - Install C++ library: ${VAMP_INSTALL_CPP_LIBRARY}")
 message(STATUS "  - Python bindings: ${VAMP_BUILD_PYTHON_BINDINGS}")
 message(STATUS "  - C++ demos: ${VAMP_BUILD_CPP_DEMO}")
 message(STATUS "  - OMPL demos: ${VAMP_BUILD_OMPL_DEMO}")
+message(STATUS "  - WASM module: ${VAMP_BUILD_WASM}")

README.md

@@ -160,6 +160,23 @@ See the `environment.yaml` file for a basic environment, and see `docker/ubuntu2
 We currently support x86 CPUs (e.g., Intel, AMD) with the [AVX2 vector instruction set](https://en.wikipedia.org/wiki/Advanced_Vector_Extensions) and ARM CPUs (e.g., Raspberry Pi, Mac M1) with [NEON](https://en.wikipedia.org/wiki/ARM_architecture_family#Advanced_SIMD_(Neon)).
 Please see the `docker/` folder for reference installation procedures.
 
+### WebAssembly (WASM)
+
+VAMP can be compiled to WebAssembly for use in web browsers via [Emscripten](https://emscripten.org/). 
+The WASM build uses 128-bit SIMD instructions.
+
+#### Building WASM Modules
+
+First, install Emscripten.
+Then build the WASM modules:
+```bash
+cd vamp
+emcmake cmake -Bbuild-wasm -DCMAKE_BUILD_TYPE=Release -DVAMP_BUILD_WASM=ON
+cmake --build build-wasm
+```
+
+This produces `{robot}_wasm.js` and `{robot}_wasm.wasm` files in `build-wasm/wasm/` for each robot (by default: `panda`, `fetch`, `ur5`).
+
 ### Using Clang instead of GCC
 You can force the use of Clang instead of GCC for compiling VAMP by uncommenting the line at the bottom of the `pyproject.toml` (or setting the corresponding CMake variable for C++ builds):
 ```toml

cmake/CompilerSettings.cmake

@@ -1,6 +1,9 @@
 # Allow users to override VAMP_ARCH (e.g., for Docker builds targeting different hardware)
 if(NOT DEFINED VAMP_ARCH)
-	if(CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
+	if(EMSCRIPTEN)
+		# WebAssembly with SIMD128 support
+		set(VAMP_ARCH "-msimd128")
+	elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
 		# Need explicit AVX2 for some MacOS clang versions
 		set(VAMP_ARCH "-march=native -mavx2")
 	elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64" OR CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64")

cmake/Dependencies.cmake

@@ -1,4 +1,21 @@
-find_package(Eigen3 REQUIRED NO_MODULE)
+if(EMSCRIPTEN)
+  # Fetch Eigen header-only library for WASM builds
+  # Emscripten doesn't have access to system packages
+  CPMAddPackage(
+    NAME Eigen3
+    VERSION 3.4.0
+    URL https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz
+    DOWNLOAD_ONLY YES
+  )
+  if(Eigen3_ADDED)
+    add_library(Eigen3::Eigen INTERFACE IMPORTED)
+    set_target_properties(Eigen3::Eigen PROPERTIES
+      INTERFACE_INCLUDE_DIRECTORIES "$<BUILD_INTERFACE:${Eigen3_SOURCE_DIR}>"
+    )
+  endif()
+else()
+  find_package(Eigen3 REQUIRED NO_MODULE)
+endif()
 
 CPMAddPackage("gh:kavrakilab/nigh#97130999440647c204e0265d05a997dbd8da4e70")
 add_library(nigh INTERFACE)
@@ -31,7 +48,8 @@ if(VAMP_INSTALL_CPP_LIBRARY)
 endif()
 
 # SIMDxorshift for x86_64 systems (includes macOS Intel and Linux x86_64)
-if(CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64" OR CMAKE_SYSTEM_PROCESSOR STREQUAL "AMD64")
+# Explicitly exclude Emscripten since it doesn't support AVX
+if(NOT EMSCRIPTEN AND (CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64" OR CMAKE_SYSTEM_PROCESSOR STREQUAL "AMD64"))
   CPMAddPackage("gh:lemire/SIMDxorshift#857c1a01df53cf1ee1ae8db3238f0ef42ef8e490")
 
   if(SIMDxorshift_SOURCE_DIR)

cmake/EmscriptenBuild.cmake

@@ -0,0 +1,48 @@
+if(NOT EMSCRIPTEN)
+    message(FATAL_ERROR "EmscriptenBuild.cmake requires Emscripten toolchain.")
+     endif()
+
+message(STATUS "Configuring VAMP for WebAssembly build")
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msimd128")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -msimd128")
+
+set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -flto")
+set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -flto")
+
+set(VAMP_DISABLE_SIMDXORSHIFT ON CACHE BOOL "Disable SIMDxorshift for WASM build" FORCE)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fexceptions")
+
+set(VAMP_WASM_OUTPUT_NAME "vamp" CACHE STRING "Output name for WASM module")
+
+set(VAMP_WASM_LINK_FLAGS
+    "-lembind"
+    "-fexceptions"
+    "-sALLOW_MEMORY_GROWTH=1"
+    "-sINITIAL_MEMORY=64MB"
+    "-sMAXIMUM_MEMORY=512MB"
+    "-sEXPORTED_RUNTIME_METHODS=['ccall','cwrap']"
+    "-sMODULARIZE=1"
+    "-sEXPORT_ES6=1"
+    "-sENVIRONMENT=web"
+    "-sWASM_BIGINT=1"
+)
+string(JOIN " " VAMP_WASM_LINK_FLAGS_STR ${VAMP_WASM_LINK_FLAGS})
+
+function(vamp_create_wasm_module TARGET_NAME)
+    add_executable(${TARGET_NAME} ${ARGN})
+
+    target_link_libraries(${TARGET_NAME} PRIVATE vamp_cpp)
+
+    set_target_properties(${TARGET_NAME} PROPERTIES
+        LINK_FLAGS "${VAMP_WASM_LINK_FLAGS_STR}"
+        SUFFIX ".js"
+    )
+
+    set_target_properties(${TARGET_NAME} PROPERTIES
+        RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/wasm"
+    )
+
+    message(STATUS "WASM target '${TARGET_NAME}' configured")
+endfunction()

cmake/Python.cmake

@@ -41,25 +41,25 @@ if(VAMP_BUILD_PYTHON_BINDINGS)
   list(JOIN VAMP_ROBOT_QUOTED ", " VAMP_ROBOT_NAMES)
 
   configure_file(
-    src/impl/vamp/bindings/init.hh.in
+    src/impl/vamp/bindings/python/init.hh.in
     ${CMAKE_CURRENT_BINARY_DIR}/vamp_python_init.hh
     @ONLY
   )
 
   configure_file(
-    src/impl/vamp/bindings/python.cc.in
+    src/impl/vamp/bindings/python/python.cc.in
     ${CMAKE_CURRENT_BINARY_DIR}/python.cc
     @ONLY
   )
 
   list(APPEND VAMP_EXT_SOURCES
-    src/impl/vamp/bindings/environment.cc
-    src/impl/vamp/bindings/settings.cc
+    src/impl/vamp/bindings/python/environment.cc
+    src/impl/vamp/bindings/python/settings.cc
     ${CMAKE_CURRENT_BINARY_DIR}/python.cc
   )
   foreach(robot_name robot_struct IN ZIP_LISTS VAMP_ROBOT_MODULES VAMP_ROBOT_STRUCTS)
   configure_file(
-    src/impl/vamp/bindings/robot.cc.in
+    src/impl/vamp/bindings/python/robot.cc.in
     ${CMAKE_CURRENT_BINARY_DIR}/${robot_name}.cc
     @ONLY
   )

resources/panda/meshes/visual/link5.mtl

@@ -1,10 +1,9 @@
-# Blender MTL File: 'None'
-# Material Count: 3
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
 
 newmtl Part__Feature_002_004_003.002
-Ns -1.960784
+Ns 1000.000000
 Ka 1.000000 1.000000 1.000000
-Kd 1.000000 1.000000 1.000000
 Ks 0.015625 0.015625 0.015625
 Ke 0.000000 0.000000 0.000000
 Ni 1.000000
@@ -13,9 +12,8 @@ illum 2
 map_Kd colors.png
 
 newmtl Shell001_001_001_003.002
-Ns -1.960784
+Ns 1000.000000
 Ka 1.000000 1.000000 1.000000
-Kd 0.250000 0.250000 0.250000
 Ks 0.015625 0.015625 0.015625
 Ke 0.000000 0.000000 0.000000
 Ni 1.000000
@@ -24,7 +22,7 @@ illum 2
 map_Kd colors.png
 
 newmtl Shell_001_001_003.002
-Ns -1.960784
+Ns 1000.000000
 Ka 1.000000 1.000000 1.000000
 Kd 1.000000 1.000000 1.000000
 Ks 0.015625 0.015625 0.015625