Initial implementation of MuJoCo Live.

This is a combination of minor tweaks to the existing Studio WASM application, CMake cleanup to make it buildable, and integration with GitHub Actions for deployment. The new features added are drag-and-drop, model specification through `?model=` URL parameter, HTTP and HTTPS resource provider, and a user-visible loading message while the model is loading. PiperOrigin-RevId: 904594610 Change-Id: I3a73b1ca0fcd6fc9ba192469942b2dab010a9308
2026-04-23 12:55:24 -07:00
parent 4eba85093a
commit 1465d8b6ce
14 changed files with 573 additions and 120 deletions
@@ -295,6 +295,32 @@ EOF
 }


+build_mujoco_live() {
+    echo "Setting up Emscripten SDK..."
+    source emsdk/emsdk_env.sh
+
+    echo "Building Filament tools, targeting host platform..."
+    cmake -S . -B build_host -G Ninja \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DUSE_STATIC_LIBCXX=OFF \
+        -DMUJOCO_BUILD_STUDIO=ON \
+        -DMUJOCO_USE_FILAMENT=ON \
+        -DMUJOCO_BUILD_TESTS=OFF \
+        -DMUJOCO_BUILD_EXAMPLES=OFF \
+        -DMUJOCO_BUILD_SIMULATE=OFF
+    cmake --build build_host --target matc resgen cmgen mujoco_filament_assets -j$(nproc)
+
+    echo "Building WASM app..."
+    emcmake cmake -S . -B build_wasm -G Ninja \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DMUJOCO_BUILD_STUDIO=ON \
+        -DMUJOCO_USE_FILAMENT=ON \
+        -DMUJOCO_BUILD_TESTS_WASM=OFF \
+        -DMUJOCO_NATIVE_BUILD_DIR=$(pwd)/build_host
+    cmake --build build_wasm --target mujoco_live -j$(nproc)
+}
+
+
 # Discover functions defined in this script by finding identifiers followed by
 # "()" and capturing the identifier as a valid function name.
 VALID_FUNCTIONS=()
@@ -0,0 +1,51 @@
+name: live
+
+on:
+  push:
+    branches:
+      - live
+
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+jobs:
+  build-and-upload-artifacts:
+    runs-on: ubuntu-24.04
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Prepare Linux
+      run: bash ./.github/workflows/build_steps.sh prepare_linux
+
+    - name: Setup Emscripten
+      run: bash ./.github/workflows/build_steps.sh setup_emsdk
+
+    - name: Build MuJoCo Live
+      env:
+        CC: clang-18
+        CXX: clang++-18
+      run: bash ./.github/workflows/build_steps.sh build_mujoco_live
+
+    - name: Prepare files for GitHub Pages
+      run: |
+        mkdir -p dist/bin
+        cp -r build_wasm/bin/* dist/bin/
+        cp src/experimental/studio/index.html dist/index.html
+
+    - name: Upload GitHub Pages artifacts
+      uses: actions/upload-pages-artifact@v3
+      with:
+        path: dist
+
+  deploy-pages:
+    needs: build-and-upload-artifacts
+    runs-on: ubuntu-latest
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    steps:
+    - name: Deploy to GitHub Pages
+      id: deployment
+      uses: actions/deploy-pages@v4