chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Refactor MuJoCo Live to separate out HTML, CSS, and JS components.

Browse Source 
PiperOrigin-RevId: 915340338
Change-Id: Ic62b9d640af9967a59a77fa59a3556b916d5a24c
This commit is contained in:
Saran Tunyasuvunakool
2026-05-14 03:39:04 -07:00
committed by Copybara-Service
parent c56d662d27
commit e47809d50d
9 changed files with 310 additions and 255 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.github/workflows/build.yml
+2
View File
@@ -14,6 +14,8 @@ name: build
on:
push:
branches:
- main
paths-ignore:
- "doc/**"
- "**/README.md"
.github/workflows/build_steps.sh
+1 -1
View File
@@ -317,7 +317,7 @@ build_mujoco_live() {
-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)
cmake --build build_wasm --target mujoco_studio -j$(nproc)
}
.github/workflows/live.yml
+3 -1
View File
@@ -32,7 +32,9 @@ jobs:
run: |
mkdir -p dist/bin
cp -r build_wasm/bin/* dist/bin/
cp src/experimental/studio/index.html dist/index.html
cp src/experimental/studio/live.html dist/index.html
cp src/experimental/studio/live.css dist/live.css
cp src/experimental/studio/live.js dist/live.js
COMMIT_HASH=$(git rev-parse HEAD 2>/dev/null || true)
if [ -n "$COMMIT_HASH" ]; then
sed -i "s/__COMMIT_HASH_PLACEHOLDER__/$COMMIT_HASH/g" dist/index.html
src/experimental/studio/CMakeLists.txt
+7 -7
View File
@@ -98,19 +98,19 @@ endif()
# WASM Live target.
if(EMSCRIPTEN)
add_executable(mujoco_live)
target_sources(mujoco_live PRIVATE wasm.cc)
target_compile_options(mujoco_live PRIVATE -g)
configure_studio_target(mujoco_live)
target_link_libraries(mujoco_live PRIVATE mujoco::render_noop)
add_executable(mujoco_studio)
target_sources(mujoco_studio PRIVATE emscripten.cc)
target_compile_options(mujoco_studio PRIVATE -g)
configure_studio_target(mujoco_studio)
target_link_libraries(mujoco_studio PRIVATE mujoco::render_noop)
# Ensure resource decoder plugins are linked into the WASM binary.
target_link_options(mujoco_live PRIVATE
target_link_options(mujoco_studio PRIVATE
-Wl,--whole-archive $<TARGET_FILE:mujoco> -Wl,--no-whole-archive
)
# Filament's OpenGL backend requires WebGL2 / full ES3 bindings.
target_link_options(mujoco_live PRIVATE
target_link_options(mujoco_studio PRIVATE
--bind
-sUSE_WEBGL2=1
-sFULL_ES3
src/experimental/studio/wasm.cc → src/experimental/studio/emscripten.cc
View File
src/experimental/studio/index.html
-246
View File
@@ -1,246 +0,0 @@
<!doctype html>
<html lang="en">
<head>
<meta charset="utf-8" />
<title>MuJoCo Live</title>
</head>
<body style="margin: 0; overflow: hidden">
<div id="commitHash" style="
position: absolute; top: 3px; right: 3px; z-index: 1;
font-family: monospace; font-size: 9px; color: #fff;
mix-blend-mode: difference;
padding: 2px 4px; user-select: all;" title="Build commit">__COMMIT_HASH_PLACEHOLDER__</div>
<script>
(function () {
var el = document.getElementById('commitHash');
if (el && el.textContent === '__COMMIT_HASH_PLACEHOLDER__') el.remove();
})();
</script>
<canvas
class="emscripten"
id="canvas"
oncontextmenu="event.preventDefault()"
style="width: 100vw; height: 100vh; display: block"
></canvas>
<script>
// --- Loading overlay (shown while model is compiling) ---
var loadingOverlay = document.createElement('div');
loadingOverlay.id = 'loadingOverlay';
loadingOverlay.style.cssText =
'position:fixed;top:0;left:0;width:100%;height:100%;' +
'background:rgba(0,0,0,0.6);z-index:10000;display:none;' +
'align-items:center;justify-content:center;';
loadingOverlay.innerHTML =
'<div style="color:#fff;font-size:24px;font-family:sans-serif;' +
'text-align:center;">' +
'<div style="margin-bottom:16px;">Loading model\u2026</div>' +
'<div style="font-size:14px;opacity:0.7;">This may take a moment ' +
'for large models.</div></div>';
document.body.appendChild(loadingOverlay);
function showLoading() {
loadingOverlay.style.display = 'flex';
}
function hideLoading() {
loadingOverlay.style.display = 'none';
}
var Module = {
preRun: [],
postRun: [],
locateFile: function(path) {
const baseURL = window.location.origin + window.location.pathname.substring(0, window.location.pathname.lastIndexOf("/"));
return baseURL + "/bin/" + path;
},
print: console.log,
printErr: text => {
console.error(text + "\n" + new Error().stack);
},
canvas: (() => {
const canvas = document.getElementById("canvas");
// As a default initial behavior, pop up an alert when webgl context is lost. To make your
// application robust, you may want to override this behavior before shipping!
// See http://www.khronos.org/registry/webgl/specs/latest/1.0/#5.15.2
canvas.addEventListener(
"webglcontextlost",
e => {
alert("WebGL context lost. You will need to reload the page.");
e.preventDefault();
},
false,
);
return canvas;
})(),
setStatus(text) {},
totalDependencies: 0,
monitorRunDependencies(left) {},
onRuntimeInitialized: () => {
// Define assets to prefetch. These paths are relative to the mujoco_live_wasm/ directory.
const assetsToPrefetch = [
"assets/fontawesome-webfont.ttf",
"assets/ibl.ktx",
"assets/OpenSans-Regular.ttf",
"assets/pbr.filamat",
"assets/pbr_packed.filamat",
"assets/phong_2d_fade.filamat",
"assets/phong_2d.filamat",
"assets/phong_2d_reflect.filamat",
"assets/phong_2d_uv_fade.filamat",
"assets/phong_2d_uv.filamat",
"assets/phong_2d_uv_reflect.filamat",
"assets/phong_color_fade.filamat",
"assets/phong_color.filamat",
"assets/phong_color_reflect.filamat",
"assets/phong_cube_fade.filamat",
"assets/phong_cube.filamat",
"assets/phong_cube_reflect.filamat",
"assets/unlit_decor.filamat",
"assets/unlit_depth.filamat",
"assets/unlit_segmentation.filamat",
"assets/unlit_ui.filamat"
];
const assetPromises = assetsToPrefetch.map(async (relativePath) => {
const assetUrl = Module.locateFile(relativePath);
try {
const response = await fetch(assetUrl);
if (!response.ok) {
throw new Error(`Failed to fetch ${assetUrl}: ${response.statusText}`);
}
const buffer = await response.arrayBuffer();
const filename = relativePath.substring(relativePath.lastIndexOf('/') + 1);
Module.registerAsset(filename, new Uint8Array(buffer));
console.log(`Registered asset: ${filename}`);
} catch (error) {
console.error(`Error prefetching asset ${assetUrl}:`, error);
throw error; // Re-throw to be caught by Promise.all
}
});
Promise.all(assetPromises)
.then(() => {
try {
Module.init();
// Check for a ?model= URL parameter and load from URL.
const params = new URLSearchParams(window.location.search);
const modelUrl = params.get('model');
if (modelUrl) {
// loadUrl uses ASYNCIFY (via EM_ASYNC_JS fetch), which
// suspends the WASM module. We must not start the animation
// loop until the load completes, otherwise renderFrame will
// hit "Cannot have multiple async operations in flight".
showLoading();
requestAnimationFrame(() => {
requestAnimationFrame(async () => {
try {
await Module.loadUrl(modelUrl);
} catch (error) {
console.error('Failed to load model from URL:', error);
} finally {
hideLoading();
requestAnimationFrame(Module.animate);
}
});
});
} else {
requestAnimationFrame(Module.animate);
}
} catch (error) {
console.error('Failed to initialize app.', error);
}
})
.catch((error) => {
console.error('Failed to prefetch one or more assets.', error);
});
},
animate: async () => {
try {
await Module.renderFrame();
} catch (error) {
console.error('Update error:', error);
}
requestAnimationFrame(Module.animate);
},
};
// Ensure the canvas is resized when the window is resized.
window.addEventListener("resize", function () {
Module.canvas.style.width = window.innerWidth + "px";
Module.canvas.style.height = window.innerHeight + "px";
});
function handleFile(file) {
const reader = new FileReader();
reader.onload = (e) => {
const buffer = e.target.result;
// Show the loading overlay, then defer the blocking WASM call by two
// animation frames so the browser has a chance to paint the overlay.
showLoading();
requestAnimationFrame(() => {
requestAnimationFrame(() => {
try {
Module.loadFile(file.name, buffer);
} catch (error) {
console.error('Failed to load model from file:', error);
} finally {
hideLoading();
}
});
});
};
reader.onerror = (e) => {
console.error('Error reading file:', e);
};
reader.readAsArrayBuffer(file);
}
document.addEventListener('DOMContentLoaded', () => {
// --- Drag-and-drop support ---
const dropOverlay = document.createElement('div');
dropOverlay.id = 'dropOverlay';
dropOverlay.style.cssText =
'position:fixed;top:0;left:0;width:100%;height:100%;' +
'background:rgba(0,0,0,0.5);z-index:9999;display:none;' +
'pointer-events:none;align-items:center;justify-content:center;';
dropOverlay.innerHTML =
'<div style="color:#fff;font-size:24px;font-family:sans-serif;' +
'padding:32px 48px;border:3px dashed #fff;border-radius:16px;">' +
'Drop model file here</div>';
document.body.appendChild(dropOverlay);
let dragCounter = 0;
document.addEventListener('dragenter', (e) => {
e.preventDefault();
dragCounter++;
if (dragCounter === 1) {
dropOverlay.style.display = 'flex';
}
});
document.addEventListener('dragleave', (e) => {
e.preventDefault();
dragCounter--;
if (dragCounter === 0) {
dropOverlay.style.display = 'none';
}
});
document.addEventListener('dragover', (e) => {
e.preventDefault();
});
document.addEventListener('drop', (e) => {
e.preventDefault();
dragCounter = 0;
dropOverlay.style.display = 'none';
const files = e.dataTransfer.files;
for (let i = 0; i < files.length; i++) {
handleFile(files[i]);
}
});
});
</script>
<script async src="bin/mujoco_live.js"></script>
</body>
</html>
src/experimental/studio/live.css
+62
View File
@@ -0,0 +1,62 @@
#loadingOverlay {
position: fixed;
top: 0;
left: 0;
width: 100%;
height: 100%;
background: rgba(0,0,0,0.6);
z-index: 10000;
display: none;
align-items: center;
justify-content: center;
}
.loading-container {
color: #fff;
font-size: 24px;
font-family: sans-serif;
text-align: center;
}
.loading-title {
margin-bottom: 16px;
}
.loading-subtitle {
font-size: 14px;
opacity: 0.7;
}
#dropOverlay {
position: fixed;
top: 0;
left: 0;
width: 100%;
height: 100%;
background: rgba(0,0,0,0.5);
z-index: 9999;
display: none;
pointer-events: none;
align-items: center;
justify-content: center;
}
.drop-message {
color: #fff;
font-size: 24px;
font-family: sans-serif;
padding: 32px 48px;
border: 3px dashed #fff;
border-radius: 16px;
}
#commitHash {
position: absolute;
top: 3px;
right: 3px;
z-index: 1;
font-family: monospace;
font-size: 7pt;
color: #fff;
mix-blend-mode: difference;
user-select: all;
}
#canvas {
width: 100vw;
height: 100vh;
display: block;
}
src/experimental/studio/live.html
+23
View File
@@ -0,0 +1,23 @@
<!doctype html>
<html lang="en">
<head>
<meta charset="utf-8" />
<link rel="stylesheet" href="live.css">
<title>MuJoCo Live</title>
</head>
<body style="margin: 0; overflow: hidden">
<div id="loadingOverlay">
<div class="loading-container">
<div class="loading-title">Loading model&hellip;</div>
<div class="loading-subtitle">This may take a moment for large models.</div>
</div>
</div>
<div id="dropOverlay">
<div class="drop-message">Drop model file here</div>
</div>
<div id="commitHash">__COMMIT_HASH_PLACEHOLDER__</div>
<canvas id="canvas" class="emscripten" oncontextmenu="event.preventDefault()"></canvas>
<script src="live.js"></script>
<script async src="bin/mujoco_studio.js"></script>
</body>
</html>
src/experimental/studio/live.js
+212
View File
@@ -0,0 +1,212 @@
// Copyright 2026 Google LLC
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// --- Loading overlay (shown while model is compiling) ---
const loadingOverlay = document.getElementById('loadingOverlay');
function showLoading() {
loadingOverlay.style.display = 'flex';
}
function hideLoading() {
loadingOverlay.style.display = 'none';
}
var Module = {
preRun: [],
postRun: [],
locateFile: function (path) {
const baseURL = window.location.origin + window.location.pathname.substring(0, window.location.pathname.lastIndexOf("/"));
return baseURL + "/bin/" + path;
},
print: console.log,
printErr: text => {
console.error(text + "\n" + new Error().stack);
},
canvas: (() => {
const canvas = document.getElementById("canvas");
// As a default initial behavior, pop up an alert when webgl context is lost. To make your
// application robust, you may want to override this behavior before shipping!
// See http://www.khronos.org/registry/webgl/specs/latest/1.0/#5.15.2
canvas.addEventListener(
"webglcontextlost",
e => {
alert("WebGL context lost. You will need to reload the page.");
e.preventDefault();
},
false,
);
return canvas;
})(),
setStatus(text) { },
totalDependencies: 0,
monitorRunDependencies(left) { },
onRuntimeInitialized: () => {
// Define assets to prefetch, relative to the WASM directory.
const assetsToPrefetch = [
"assets/fontawesome-webfont.ttf",
"assets/ibl.ktx",
"assets/OpenSans-Regular.ttf",
"assets/pbr.filamat",
"assets/pbr_packed.filamat",
"assets/phong_2d_fade.filamat",
"assets/phong_2d.filamat",
"assets/phong_2d_reflect.filamat",
"assets/phong_2d_uv_fade.filamat",
"assets/phong_2d_uv.filamat",
"assets/phong_2d_uv_reflect.filamat",
"assets/phong_color_fade.filamat",
"assets/phong_color.filamat",
"assets/phong_color_reflect.filamat",
"assets/phong_cube_fade.filamat",
"assets/phong_cube.filamat",
"assets/phong_cube_reflect.filamat",
"assets/unlit_decor.filamat",
"assets/unlit_depth.filamat",
"assets/unlit_segmentation.filamat",
"assets/unlit_ui.filamat"
];
const assetPromises = assetsToPrefetch.map(async (relativePath) => {
const assetUrl = Module.locateFile(relativePath);
try {
const response = await fetch(assetUrl);
if (!response.ok) {
throw new Error(`Failed to fetch ${assetUrl}: ${response.statusText}`);
}
const buffer = await response.arrayBuffer();
const filename = relativePath.substring(relativePath.lastIndexOf('/') + 1);
Module.registerAsset(filename, new Uint8Array(buffer));
console.log(`Registered asset: ${filename}`);
} catch (error) {
console.error(`Error prefetching asset ${assetUrl}:`, error);
throw error; // Re-throw to be caught by Promise.all
}
});
Promise.all(assetPromises)
.then(() => {
try {
Module.init();
// Check for a ?model= URL parameter and load from URL.
const params = new URLSearchParams(window.location.search);
const modelUrl = params.get('model');
if (modelUrl) {
// loadUrl uses ASYNCIFY (via EM_ASYNC_JS fetch), which
// suspends the WASM module. We must not start the animation
// loop until the load completes, otherwise renderFrame will
// hit "Cannot have multiple async operations in flight".
showLoading();
requestAnimationFrame(() => {
requestAnimationFrame(async () => {
try {
await Module.loadUrl(modelUrl);
} catch (error) {
console.error('Failed to load model from URL:', error);
} finally {
hideLoading();
requestAnimationFrame(Module.animate);
}
});
});
} else {
requestAnimationFrame(Module.animate);
}
} catch (error) {
console.error('Failed to initialize app.', error);
}
})
.catch((error) => {
console.error('Failed to prefetch one or more assets.', error);
});
},
animate: async () => {
try {
await Module.renderFrame();
} catch (error) {
console.error('Update error:', error);
}
requestAnimationFrame(Module.animate);
},
};
// Ensure the canvas is resized when the window is resized.
window.addEventListener("resize", function () {
Module.canvas.style.width = window.innerWidth + "px";
Module.canvas.style.height = window.innerHeight + "px";
});
function handleFile(file) {
const reader = new FileReader();
reader.onload = (e) => {
const buffer = e.target.result;
// Show the loading overlay, then defer the blocking WASM call by two
// animation frames so the browser has a chance to paint the overlay.
showLoading();
requestAnimationFrame(() => {
requestAnimationFrame(() => {
try {
Module.loadFile(file.name, buffer);
} catch (error) {
console.error('Failed to load model from file:', error);
} finally {
hideLoading();
}
});
});
};
reader.onerror = (e) => {
console.error('Error reading file:', e);
};
reader.readAsArrayBuffer(file);
}
document.addEventListener('DOMContentLoaded', () => {
// Remove commit hash if not substituted
var el = document.getElementById('commitHash');
if (el && el.textContent === '__COMMIT_HASH_PLACEHOLDER__') el.remove();
// --- Drag-and-drop support ---
const dropOverlay = document.getElementById('dropOverlay');
let dragCounter = 0;
document.addEventListener('dragenter', (e) => {
e.preventDefault();
dragCounter++;
if (dragCounter === 1) {
dropOverlay.style.display = 'flex';
}
});
document.addEventListener('dragleave', (e) => {
e.preventDefault();
dragCounter--;
if (dragCounter === 0) {
dropOverlay.style.display = 'none';
}
});
document.addEventListener('dragover', (e) => {
e.preventDefault();
});
document.addEventListener('drop', (e) => {
e.preventDefault();
dragCounter = 0;
dropOverlay.style.display = 'none';
const files = e.dataTransfer.files;
for (let i = 0; i < files.length; i++) {
handleFile(files[i]);
}
});
});