mujoco

<!doctype html>
<html>
  <head>
    <meta charset="utf-8" />
    <title>MuJoCo Studio!</title>
  </head>
  <body style="margin: 0; overflow: hidden">
    <div style="position: absolute; top: 3px; right: 3px; z-index: 1;">
      <button id="uploadButton">Upload Model</button>
      <input type="file" id="fileInput" accept=".xml,.mjb,.mjz,.zip" style="display: none;">
    </div>
    <canvas
      class="emscripten"
      id="canvas"
      oncontextmenu="event.preventDefault()"
      style="width: 100vw; height: 100vh; display: block"
    ></canvas>
    <script>
      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 wasm_binary/ directory.
          const assetsToPrefetch = [
          ];

          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();
                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";
      });

      document.addEventListener('DOMContentLoaded', () => {
        const uploadButton = document.getElementById('uploadButton');
        const fileInput = document.getElementById('fileInput');

        uploadButton.addEventListener('click', () => {
          fileInput.click();
        });

        fileInput.addEventListener('change', (event) => {
          const file = event.target.files[0];
          if (!file) {
            return;
          }

          const reader = new FileReader();
          reader.onload = (e) => {
            const buffer = e.target.result;
            try {
              Module.loadFile(file.name, buffer);
            } catch (error) {
              console.error('Failed to load model from file:', error);
            }
          };
          reader.onerror = (e) => {
            console.error('Error reading file:', e);
          };
          reader.readAsArrayBuffer(file);
        });
      });
    </script>
    <script async src="/bin/wasm.js"></script>
  </body>
</html>