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saran-tcopybara-github
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Refactor MuJoCo Live to separate out HTML, CSS, and JS components.
PiperOrigin-RevId: 915340338 Change-Id: Ic62b9d640af9967a59a77fa59a3556b916d5a24c
1 parent c56d662 commit e47809d

9 files changed

Lines changed: 310 additions & 255 deletions

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‎.github/workflows/build.yml‎

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@@ -14,6 +14,8 @@ name: build
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on:
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push:
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branches:
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- main
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paths-ignore:
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- "doc/**"
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- "**/README.md"

‎.github/workflows/build_steps.sh‎

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@@ -317,7 +317,7 @@ build_mujoco_live() {
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-DMUJOCO_USE_FILAMENT=ON \
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-DMUJOCO_BUILD_TESTS_WASM=OFF \
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-DMUJOCO_NATIVE_BUILD_DIR=$(pwd)/build_host
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cmake --build build_wasm --target mujoco_live -j$(nproc)
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cmake --build build_wasm --target mujoco_studio -j$(nproc)
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}
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‎.github/workflows/live.yml‎

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@@ -32,7 +32,9 @@ jobs:
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run: |
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mkdir -p dist/bin
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cp -r build_wasm/bin/* dist/bin/
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cp src/experimental/studio/index.html dist/index.html
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cp src/experimental/studio/live.html dist/index.html
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cp src/experimental/studio/live.css dist/live.css
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cp src/experimental/studio/live.js dist/live.js
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COMMIT_HASH=$(git rev-parse HEAD 2>/dev/null || true)
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if [ -n "$COMMIT_HASH" ]; then
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sed -i "s/__COMMIT_HASH_PLACEHOLDER__/$COMMIT_HASH/g" dist/index.html

‎src/experimental/studio/CMakeLists.txt‎

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@@ -98,19 +98,19 @@ endif()
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# WASM Live target.
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if(EMSCRIPTEN)
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add_executable(mujoco_live)
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target_sources(mujoco_live PRIVATE wasm.cc)
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target_compile_options(mujoco_live PRIVATE -g)
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configure_studio_target(mujoco_live)
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target_link_libraries(mujoco_live PRIVATE mujoco::render_noop)
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add_executable(mujoco_studio)
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target_sources(mujoco_studio PRIVATE emscripten.cc)
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target_compile_options(mujoco_studio PRIVATE -g)
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configure_studio_target(mujoco_studio)
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target_link_libraries(mujoco_studio PRIVATE mujoco::render_noop)
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# Ensure resource decoder plugins are linked into the WASM binary.
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target_link_options(mujoco_live PRIVATE
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target_link_options(mujoco_studio PRIVATE
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-Wl,--whole-archive $<TARGET_FILE:mujoco> -Wl,--no-whole-archive
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)
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# Filament's OpenGL backend requires WebGL2 / full ES3 bindings.
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target_link_options(mujoco_live PRIVATE
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target_link_options(mujoco_studio PRIVATE
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--bind
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-sUSE_WEBGL2=1
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-sFULL_ES3

src/experimental/studio/wasm.cc renamed to src/experimental/studio/emscripten.cc

File renamed without changes.

‎src/experimental/studio/index.html‎

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This file was deleted.

‎src/experimental/studio/live.css‎

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#loadingOverlay {
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position: fixed;
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top: 0;
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left: 0;
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width: 100%;
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height: 100%;
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background: rgba(0,0,0,0.6);
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z-index: 10000;
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display: none;
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align-items: center;
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justify-content: center;
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}
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.loading-container {
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color: #fff;
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font-size: 24px;
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font-family: sans-serif;
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text-align: center;
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}
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.loading-title {
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margin-bottom: 16px;
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}
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.loading-subtitle {
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font-size: 14px;
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opacity: 0.7;
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}
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#dropOverlay {
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position: fixed;
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top: 0;
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left: 0;
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width: 100%;
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height: 100%;
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background: rgba(0,0,0,0.5);
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z-index: 9999;
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display: none;
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pointer-events: none;
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align-items: center;
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justify-content: center;
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}
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.drop-message {
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color: #fff;
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font-size: 24px;
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font-family: sans-serif;
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padding: 32px 48px;
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border: 3px dashed #fff;
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border-radius: 16px;
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}
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#commitHash {
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position: absolute;
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top: 3px;
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right: 3px;
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z-index: 1;
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font-family: monospace;
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font-size: 7pt;
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color: #fff;
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mix-blend-mode: difference;
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user-select: all;
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}
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#canvas {
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width: 100vw;
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height: 100vh;
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display: block;
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}

‎src/experimental/studio/live.html‎

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<!doctype html>
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<html lang="en">
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<head>
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<meta charset="utf-8" />
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<link rel="stylesheet" href="live.css">
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<title>MuJoCo Live</title>
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</head>
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<body style="margin: 0; overflow: hidden">
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<div id="loadingOverlay">
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<div class="loading-container">
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<div class="loading-title">Loading model&hellip;</div>
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<div class="loading-subtitle">This may take a moment for large models.</div>
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</div>
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</div>
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<div id="dropOverlay">
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<div class="drop-message">Drop model file here</div>
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</div>
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<div id="commitHash">__COMMIT_HASH_PLACEHOLDER__</div>
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<canvas id="canvas" class="emscripten" oncontextmenu="event.preventDefault()"></canvas>
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<script src="live.js"></script>
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<script async src="bin/mujoco_studio.js"></script>
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</body>
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</html>

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