Publishing to mjswan Cloud¶

Deployment covers hosting a built dist/ yourself. mjswan Cloud is the alternative: upload only the data files and get a hosted page back, with no static host to configure and no base_path to get right.

What gets uploaded¶

Only data files travel — the compiled JavaScript never does. Cloud renders your simulation with its own pinned copy of the engine, loaded from a CDN.

What travels is exactly the simulation document, so a .swn written by app.save_document() publishes the same file set as the directory it came from: mjswan publish sim.swn.

Limits: see "Service limits" in the mjswan Cloud Terms.

Cloud takes .mjz scenes only, so mjswan publish refuses a build with a scene added as add_scene(model=...) (a .mjb). Add it with spec= to publish it.

Before the first byte moves, publish prints every license file it will carry with the license it identifies, demo/LICENSE (Apache-2.0) or demo/go2/LICENSE.unitree_go2 (BSD-3-Clause), so nothing travels unseen. A file under a restricted license (Creative Commons NC / SA / ND, the GPL family) earns a warning naming the clause; the publish goes ahead, and the responsibility is yours. A file whose terms forbid redistribution (the Max Planck research license behind SMPL and AMASS, Universal Robots' graphical-documentation terms, or one tagged LicenseRef-AMASS / LicenseRef-SMPL) is refused locally, naming the file; the platform refuses the same file at commit. A custom text is carried and shown without comment. See Licenses for how the files get into the build.

From the CLI¶

python build.py                # writes dist/
mjswan publish dist --title "G1 Locomotion"

The first publish runs a GitHub sign-in automatically (a gh-style loopback OAuth flow) and prints the resulting page URL:

Published! https://mjswan.com/s/<id>

Manage the session explicitly when you want to:

mjswan login             # or --no-open to print the URL instead, e.g. over SSH
mjswan whoami
mjswan logout

From Python¶

Builder.build() returns an MjswanApp, which publishes directly — no intermediate dist/ path to pass around:

app = builder.build()
result = app.publish(title="G1 Locomotion", tags=["locomotion", "g1"])
print(result.id)

In CI¶

Interactive login has no place in a pipeline. Set MJSWAN_TOKEN instead and the browser flow is skipped:

- name: Build and publish
  run: |
    uv run python build.py
    uv run mjswan publish dist --title "Nightly"
  env:
    MJSWAN_TOKEN: ${{ secrets.MJSWAN_TOKEN }}
    MJSWAN_NO_LAUNCH: "1"

Embedding a published simulation¶

A published page can be embedded like any other, and the npm engine can load a published manifest.json directly. See Embedding and the Engine API.