chenlin/Mujoco_WASM
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Initial implementation of MuJoCo Live.

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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
This commit is contained in:
Saran Tunyasuvunakool
2026-04-23 12:55:24 -07:00
committed by Copybara-Service
parent 4eba85093a
commit 1465d8b6ce
14 changed files with 573 additions and 120 deletions
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CMakeLists.txt
+39 -1
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@@ -53,12 +53,49 @@ endif()
if(EMSCRIPTEN)
option(MUJOCO_BUILD_TESTS_WASM "Build tests for WASM bindings" ON)
option(MUJOCO_BUILD_STUDIO "Build studio for MuJoCo (WASM)" OFF)
option(MUJOCO_USE_FILAMENT "Use filament rendering" OFF)
option(MUJOCO_WASM_THREADS "Build with multi-threading support" ON)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++20 -O3 -fexceptions")
if(MUJOCO_WASM_THREADS)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -pthread")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
endif()
# Filament uses the WEBGL variable (not EMSCRIPTEN) to identify web builds.
# Without this, it falls into the LINUX path and tries to compile with
# futex, X11, Vulkan, etc.
if(MUJOCO_USE_FILAMENT)
set(WEBGL ON CACHE BOOL "Filament WebGL mode" FORCE)
endif()
# Automatically generate host tool imports for Filament cross-compilation.
# When WEBGL is true, Filament hardcodes the path to:
# ${FILAMENT}/${IMPORT_EXECUTABLES_DIR}/ImportExecutables-Release.cmake
# So we write our file with that exact name and set IMPORT_EXECUTABLES_DIR
# to point at CMAKE_BINARY_DIR (which is ../../ relative to filament-src).
set(MUJOCO_NATIVE_BUILD_DIR "${PROJECT_SOURCE_DIR}/build-host" CACHE PATH "Path to native build directory containing host tools")
find_program(MATC_EXE matc PATHS "${MUJOCO_NATIVE_BUILD_DIR}/bin" NO_DEFAULT_PATH)
find_program(RESGEN_EXE resgen PATHS "${MUJOCO_NATIVE_BUILD_DIR}/bin" NO_DEFAULT_PATH)
find_program(CMGEN_EXE cmgen PATHS "${MUJOCO_NATIVE_BUILD_DIR}/bin" NO_DEFAULT_PATH)
if(MATC_EXE AND RESGEN_EXE AND CMGEN_EXE)
message(STATUS "Found host tools in ${MUJOCO_NATIVE_BUILD_DIR}/bin")
set(IMPORT_EXECUTABLES_FILE "${CMAKE_BINARY_DIR}/ImportExecutables-Release.cmake")
file(WRITE "${IMPORT_EXECUTABLES_FILE}"
"add_executable(matc IMPORTED)\n"
"set_property(TARGET matc PROPERTY IMPORTED_LOCATION \"${MATC_EXE}\")\n"
"add_executable(resgen IMPORTED)\n"
"set_property(TARGET resgen PROPERTY IMPORTED_LOCATION \"${RESGEN_EXE}\")\n"
"add_executable(cmgen IMPORTED)\n"
"set_property(TARGET cmgen PROPERTY IMPORTED_LOCATION \"${CMGEN_EXE}\")\n"
)
# Filament's WEBGL path resolves: ${FILAMENT}/${IMPORT_EXECUTABLES_DIR}/ImportExecutables-Release.cmake
# FILAMENT = _deps/filament-src, so ../../ resolves to CMAKE_BINARY_DIR.
set(IMPORT_EXECUTABLES_DIR "../../" CACHE PATH "" FORCE)
else()
message(WARNING "Host tools (matc, resgen, cmgen) not found in ${MUJOCO_NATIVE_BUILD_DIR}/bin. WASM build of Studio might fail.")
endif()
endif()
if(APPLE AND (MUJOCO_BUILD_EXAMPLES OR MUJOCO_BUILD_SIMULATE))
@@ -125,8 +162,9 @@ if(NOT EMSCRIPTEN AND NOT MUJOCO_USE_FILAMENT_MJR_COMPAT)
add_subdirectory(src/render/classic)
add_subdirectory(src/ui)
endif()
add_subdirectory(src/render/noop)
if(MUJOCO_USE_FILAMENT AND NOT EMSCRIPTEN)
if(MUJOCO_USE_FILAMENT)
add_subdirectory(src/experimental/filament)
endif()