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/update.py

@@ -0,0 +1,41 @@
+# 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 WASM bindings for MuJoCo's API.
+
+This script leverages MuJoCo's introspect dicts to gather information
+about its internal structures and then uses a code generation framework to
+produce corresponding WASM bindings.
+"""
+
+from wasm.codegen import binding_builder
+from wasm.codegen.helpers import common
+
+
+def generate_all_bindings():
+  """Generates WASM bindings for MuJoCo."""
+  template_path_h, generated_path_h = common.get_file_path(
+      "templates", "generated", "bindings.h"
+  )
+  template_path_cc, generated_path_cc = common.get_file_path(
+      "templates", "generated", "bindings.cc"
+  )
+  builder = binding_builder.BindingBuilder(
+      template_path_h, template_path_cc, generated_path_h, generated_path_cc
+  )
+  builder.set_enums().set_headers().set_structs().set_functions().build()
+
+
+if __name__ == "__main__":
+  generate_all_bindings()