Revert 42b81966b7 due to GitHub failures

PiperOrigin-RevId: 862869742
Change-Id: I9c56c8e15b609c9a67e6c90542722e7326d8fe2c

CMakeLists.txt

@@ -52,8 +52,6 @@ endif()
 
 if(EMSCRIPTEN)
   option(MUJOCO_BUILD_TESTS_WASM "Build tests for WASM bindings" ON)
-  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -pthread")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++20 -O3 -pthread -fexceptions")
 endif()
 
 if(APPLE AND (MUJOCO_BUILD_EXAMPLES OR MUJOCO_BUILD_SIMULATE))

wasm/CMakeLists.txt

@@ -14,6 +14,8 @@
 
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/wasm/dist")
 
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++20 -O3 -fexceptions")
+
 set(CMAKE_INSTALL_PREFIX ${PROJECT_SOURCE_DIR}/wasm)
 
 include_directories(${PROJECT_SOURCE_DIR}/include)
@@ -31,11 +33,12 @@ if(NOT MUJOCO_WASM_FILES)
     message(FATAL_ERROR "No source files found in codegen/generated/")
 endif()
 
+add_compile_options(-pthread)
+add_compile_options(-fexceptions)
+
 # Set Emscripten linker flags
 set(EMCC_LINKER_FLAGS
     "--bind"
-    "-pthread"
-    "-s PTHREAD_POOL_SIZE=navigator.hardwareConcurrency"
     "-s ASSERTIONS=1"
     "-s ALLOW_MEMORY_GROWTH=1"
     "-s EXPORT_ES6=1"

wasm/tests/CMakeLists.txt

@@ -14,6 +14,8 @@
 
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/wasm/dist")
 
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++20 -O3")
+
 set(CMAKE_INSTALL_PREFIX ${PROJECT_SOURCE_DIR}/wasm)
 
 include_directories(${PROJECT_SOURCE_DIR}/include)
@@ -31,11 +33,11 @@ if(NOT MUJOCO_WASM_FILES)
     message(FATAL_ERROR "No source files found")
 endif()
 
+add_compile_options(-pthread)
+
 # Set Emscripten linker flags
 set(EMCC_LINKER_FLAGS
     "--bind"
-    "-pthread"
-    "-s PTHREAD_POOL_SIZE=navigator.hardwareConcurrency"
     "-s ASSERTIONS=1"
     "-s ALLOW_MEMORY_GROWTH=1"
     "-s EXPORT_ES6=1"

wasm/tests/bindings_test.ts

@@ -1873,66 +1873,6 @@ describe('MuJoCo WASM Bindings', () => {
     }
   });
 
-  it('should compile a spec from XML with 10 meshes and 10 textures', () => {
-    const assetsCount = 10;
-    let xml = `<mujoco>
-      <asset>`;
-    const cube1 = `
-    v -1 -1  1
-    v  1 -1  1
-    v -1  1  1
-    v  1  1  1
-    v -1  1 -1
-    v  1  1 -1
-    v -1 -1 -1
-    v  1 -1 -1`;
-    const dummyTex = 'dummy texture data';
-
-    for (let i = 0; i < assetsCount; i++) {
-      xml += `<mesh name="cube${i}" file="cube${i}.obj"/>`;
-      xml += `<texture name="tex${
-          i}" type="2d" builtin="checker" width="16" height="16"/>`;
-    }
-    xml += `</asset><worldbody>`;
-    for (let i = 0; i < assetsCount; i++) {
-      xml += `<geom type="mesh" mesh="cube${i}"/>`;
-    }
-    xml += `</worldbody></mujoco>`;
-
-    let spec: MjSpec|null = null;
-    let model: MjModel|null = null;
-    let vfs: MjVFS|null = null;
-    try {
-      spec = mujoco.parseXMLString(xml);
-      assertExists(spec);
-
-      vfs = new mujoco.MjVFS();
-      assertExists(vfs);
-      for (let i = 0; i < assetsCount; i++) {
-        vfs.addBuffer(`cube${i}.obj`, new TextEncoder().encode(cube1));
-        vfs.addBuffer(`tex${i}.txt`, new TextEncoder().encode(dummyTex));
-      }
-
-      model = mujoco.mj_compile(spec, vfs);
-      assertExists(model);
-      expect(model.nmesh).toBe(assetsCount);
-      expect(model.ntex).toBe(assetsCount);
-
-      for (let i = 0; i < assetsCount; i++) {
-        const meshId = mujoco.mj_name2id(
-            model, mujoco.mjtObj.mjOBJ_MESH.value, `cube${i}`);
-        expect(meshId).toBe(i);
-        const tex = model.tex(`tex${i}`);
-        expect(tex).toBeDefined();
-        expect(tex!.name).toBe(`tex${i}`);
-      }
-    } finally {
-      spec?.delete();
-      vfs?.delete();
-      model?.delete();
-    }
-  });
-
   describe('MjModel named access', () => {
     // Corresponds to
     // bindings_test.py:test_named_indexing_invalid_names_in_model