Add JavaScript bindings and WASM support

Co-authored-by: Matija Kecman <matijak@google.com>
Co-authored-by: Sebastian Noreña Rendón <sebas.norena@creativa77.com.ar>
Co-authored-by: Kyle Bayes <kylebayes@google.com>
PiperOrigin-RevId: 826479070
Change-Id: I25acf36e6c20b091d8492e10798d028ae66f6733

wasm/codegen/generators/enums.py

@@ -0,0 +1,47 @@
+# Copyright 2025 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Generates Embind bindings for MuJoCo enums."""
+
+from typing import Mapping
+
+from introspect import ast_nodes
+
+from wasm.codegen.helpers import code_builder
+
+
+class Generator:
+  """Generates Embind code for MuJoCo enums."""
+
+  def __init__(self, enums: Mapping[str, ast_nodes.EnumDecl]):
+    self.enums = enums
+
+  def _generate_enum_binding(self, enum: ast_nodes.EnumDecl) -> str:
+    """Generates the Embind code for a single enum."""
+
+    code = f'{code_builder.INDENT}enum_<{enum.name}>("{enum.name}")'
+
+    for value_name in enum.values:
+      code += f'\n{2*code_builder.INDENT}.value("{value_name}", {value_name})'
+
+    code += ";"
+    return code
+
+  def generate(self) -> str:
+    """Generates all Embind code for the provided enums."""
+
+    code = []
+    for enum in self.enums.values():
+      code.append(self._generate_enum_binding(enum))
+    return "\n\n".join(code) + "\n"