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Refactor Emscripten bindings generation for MuJoCo structs.

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PiperOrigin-RevId: 828550215
Change-Id: Iab0bf3a9fbaca4d7774f89a4d8977e762aa57629
This commit is contained in:
Google DeepMind
2025-11-05 11:13:30 -08:00
committed by Copybara-Service
parent 8104235f8e
commit 3577c98f82
4 changed files with 545 additions and 758 deletions
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wasm/codegen/templates/bindings.cc
+1 -228
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@@ -598,11 +598,6 @@ std::unique_ptr<MjSpec> parseXMLString(const std::string &xml) {
EMSCRIPTEN_BINDINGS(mujoco_bindings) {
function("parseXMLString", &parseXMLString, take_ownership());
emscripten::class_<MjLROpt>("MjLROpt")
.constructor<>()
.function("copy", &MjLROpt::copy, take_ownership())
// INSERT-GENERATED-MjLROpt-BINDINGS
;
emscripten::class_<MjModel>("MjModel")
.class_function("loadFromXML", &loadFromXML, take_ownership())
.constructor<const MjModel &>()
@@ -613,238 +608,16 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.constructor<const MjModel &, const MjData &>()
// INSERT-GENERATED-MjData-BINDINGS
;
emscripten::class_<MjOption>("MjOption")
.constructor<>()
.function("copy", &MjOption::copy, take_ownership())
// INSERT-GENERATED-MjOption-BINDINGS
;
emscripten::class_<MjStatistic>("MjStatistic")
.constructor<>()
.function("copy", &MjStatistic::copy, take_ownership())
// INSERT-GENERATED-MjStatistic-BINDINGS
;
emscripten::class_<MjVisualGlobal>("MjVisualGlobal")
.constructor<>()
.function("copy", &MjVisualGlobal::copy, take_ownership())
// INSERT-GENERATED-MjVisualGlobal-BINDINGS
;
emscripten::class_<MjVisualQuality>("MjVisualQuality")
.constructor<>()
.function("copy", &MjVisualQuality::copy, take_ownership())
// INSERT-GENERATED-MjVisualQuality-BINDINGS
;
emscripten::class_<MjVisualHeadlight>("MjVisualHeadlight")
.constructor<>()
.function("copy", &MjVisualHeadlight::copy, take_ownership())
// INSERT-GENERATED-MjVisualHeadlight-BINDINGS
;
emscripten::class_<MjVisualMap>("MjVisualMap")
.constructor<>()
.function("copy", &MjVisualMap::copy, take_ownership())
// INSERT-GENERATED-MjVisualMap-BINDINGS
;
emscripten::class_<MjVisualScale>("MjVisualScale")
.constructor<>()
.function("copy", &MjVisualScale::copy, take_ownership())
// INSERT-GENERATED-MjVisualScale-BINDINGS
;
emscripten::class_<MjVisualRgba>("MjVisualRgba")
.constructor<>()
.function("copy", &MjVisualRgba::copy, take_ownership())
// INSERT-GENERATED-MjVisualRgba-BINDINGS
;
emscripten::class_<MjVisual>("MjVisual")
.constructor<>()
.function("copy", &MjVisual::copy, take_ownership())
// INSERT-GENERATED-MjVisual-BINDINGS
;
emscripten::class_<MjSolverStat>("MjSolverStat")
.constructor<>()
.function("copy", &MjSolverStat::copy, take_ownership())
// INSERT-GENERATED-MjSolverStat-BINDINGS
;
emscripten::class_<MjTimerStat>("MjTimerStat")
.constructor<>()
.function("copy", &MjTimerStat::copy, take_ownership())
// INSERT-GENERATED-MjTimerStat-BINDINGS
;
emscripten::class_<MjWarningStat>("MjWarningStat")
.constructor<>()
.function("copy", &MjWarningStat::copy, take_ownership())
// INSERT-GENERATED-MjWarningStat-BINDINGS
;
emscripten::class_<MjContact>("MjContact")
.constructor<>()
.function("copy", &MjContact::copy, take_ownership())
// INSERT-GENERATED-MjContact-BINDINGS
;
emscripten::class_<MjvPerturb>("MjvPerturb")
.constructor<>()
.function("copy", &MjvPerturb::copy, take_ownership())
// INSERT-GENERATED-MjvPerturb-BINDINGS
;
emscripten::class_<MjvCamera>("MjvCamera")
.constructor<>()
.function("copy", &MjvCamera::copy, take_ownership())
// INSERT-GENERATED-MjvCamera-BINDINGS
;
emscripten::class_<MjvGLCamera>("MjvGLCamera")
.constructor<>()
.function("copy", &MjvGLCamera::copy, take_ownership())
// INSERT-GENERATED-MjvGLCamera-BINDINGS
;
emscripten::class_<MjvGeom>("MjvGeom")
.constructor<>()
.function("copy", &MjvGLCamera::copy, take_ownership())
// INSERT-GENERATED-MjvGeom-BINDINGS
;
emscripten::class_<MjvLight>("MjvLight")
.constructor<>()
.function("copy", &MjvLight::copy, take_ownership())
// INSERT-GENERATED-MjvLight-BINDINGS
;
emscripten::class_<MjvOption>("MjvOption")
.constructor<>()
.function("copy", &MjvOption::copy, take_ownership())
// INSERT-GENERATED-MjvOption-BINDINGS
;
emscripten::class_<MjvScene>("MjvScene")
.constructor<>()
.constructor<MjModel *, int>()
// INSERT-GENERATED-MjvScene-BINDINGS
;
emscripten::class_<MjvFigure>("MjvFigure")
.constructor<>()
.function("copy", &MjvFigure::copy, take_ownership())
// INSERT-GENERATED-MjvFigure-BINDINGS
;
emscripten::class_<MjSpec>("MjSpec")
.constructor<const MjSpec &>()
// INSERT-GENERATED-MjSpec-BINDINGS
;
emscripten::class_<MjsElement>("MjsElement")
// INSERT-GENERATED-MjsElement-BINDINGS
;
emscripten::class_<MjsCompiler>("MjsCompiler")
// INSERT-GENERATED-MjsCompiler-BINDINGS
;
emscripten::class_<MjsOrientation>("MjsOrientation")
// INSERT-GENERATED-MjsOrientation-BINDINGS
;
emscripten::class_<MjsBody>("MjsBody")
// INSERT-GENERATED-MjsBody-BINDINGS
;
emscripten::class_<MjsGeom>("MjsGeom")
// INSERT-GENERATED-MjsGeom-BINDINGS
;
emscripten::class_<MjsFrame>("MjsFrame")
// INSERT-GENERATED-MjsFrame-BINDINGS
;
emscripten::class_<MjsJoint>("MjsJoint")
// INSERT-GENERATED-MjsJoint-BINDINGS
;
emscripten::class_<MjsSite>("MjsSite")
// INSERT-GENERATED-MjsSite-BINDINGS
;
emscripten::class_<MjsCamera>("MjsCamera")
// INSERT-GENERATED-MjsCamera-BINDINGS
;
emscripten::class_<MjsLight>("MjsLight")
// INSERT-GENERATED-MjsLight-BINDINGS
;
emscripten::class_<MjsFlex>("MjsFlex")
// INSERT-GENERATED-MjsFlex-BINDINGS
;
emscripten::class_<MjsMesh>("MjsMesh")
// INSERT-GENERATED-MjsMesh-BINDINGS
;
emscripten::class_<MjsHField>("MjsHField")
// INSERT-GENERATED-MjsHField-BINDINGS
;
emscripten::class_<MjsSkin>("MjsSkin")
// INSERT-GENERATED-MjsSkin-BINDINGS
;
emscripten::class_<MjsTexture>("MjsTexture")
// INSERT-GENERATED-MjsTexture-BINDINGS
;
emscripten::class_<MjsMaterial>("MjsMaterial")
// INSERT-GENERATED-MjsMaterial-BINDINGS
;
emscripten::class_<MjsPair>("MjsPair")
// INSERT-GENERATED-MjsPair-BINDINGS
;
emscripten::class_<MjsExclude>("MjsExclude")
// INSERT-GENERATED-MjsExclude-BINDINGS
;
emscripten::class_<MjsEquality>("MjsEquality")
// INSERT-GENERATED-MjsEquality-BINDINGS
;
emscripten::class_<MjsTendon>("MjsTendon")
// INSERT-GENERATED-MjsTendon-BINDINGS
;
emscripten::class_<MjsWrap>("MjsWrap")
// INSERT-GENERATED-MjsWrap-BINDINGS
;
emscripten::class_<MjsActuator>("MjsActuator")
// INSERT-GENERATED-MjsActuator-BINDINGS
;
emscripten::class_<MjsSensor>("MjsSensor")
// INSERT-GENERATED-MjsSensor-BINDINGS
;
emscripten::class_<MjsNumeric>("MjsNumeric")
// INSERT-GENERATED-MjsNumeric-BINDINGS
;
emscripten::class_<MjsText>("MjsText")
// INSERT-GENERATED-MjsText-BINDINGS
;
emscripten::class_<MjsTuple>("MjsTuple")
// INSERT-GENERATED-MjsTuple-BINDINGS
;
emscripten::class_<MjsKey>("MjsKey")
// INSERT-GENERATED-MjsKey-BINDINGS
;
emscripten::class_<MjsDefault>("MjsDefault")
// INSERT-GENERATED-MjsDefault-BINDINGS
;
emscripten::class_<MjsPlugin>("MjsPlugin")
// INSERT-GENERATED-MjsPlugin-BINDINGS
;
emscripten::class_<MjVFS>("MjVFS").constructor<>()
// INSERT-GENERATED-MjVFS-BINDINGS
;
// {{ AUTOGENNED_STRUCTS_BINDINGS }}
// TODO: should be generated in future CLs -- //
emscripten::register_vector<MjSolverStat>("MjSolverStatVec");