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Add custom Emscripten binding for mj_saveModel.

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Also adds support to unpack nullable string args

PiperOrigin-RevId: 859702186
Change-Id: Ia9e10f447ecf17b1dd74dd64d988790107a438a6
This commit is contained in:
Google DeepMind
2026-01-22 11:35:23 -08:00
committed by Copybara-Service
parent 5ae6b5fe31
commit 61f13cd8f1
5 changed files with 115 additions and 5 deletions
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wasm/codegen/generated/bindings.cc
+16
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@@ -50,6 +50,7 @@ using emscripten::return_value_policy::take_ownership;
EMSCRIPTEN_DECLARE_VAL_TYPE(NumberOrString);
EMSCRIPTEN_DECLARE_VAL_TYPE(NumberArray);
EMSCRIPTEN_DECLARE_VAL_TYPE(String);
EMSCRIPTEN_DECLARE_VAL_TYPE(StringOrNull);
// Macro to define accessors for different MuJoCo object types within mjModel.
// Each line calls X_ACCESSOR with the following arguments:
@@ -8010,6 +8011,12 @@ std::unique_ptr<MjModel> mj_loadXML_wrapper(std::string filename) {
return std::unique_ptr<MjModel>(new MjModel(model));
}
void mj_saveModel_wrapper(const MjModel& m, const StringOrNull& filename, const val& buffer) {
UNPACK_NULLABLE_STRING(filename);
UNPACK_NULLABLE_VALUE(uint8_t, buffer);
mj_saveModel(m.get(), filename_.data(), buffer_.data(), static_cast<int>(buffer_.size()));
}
std::unique_ptr<MjSpec> parseXMLString_wrapper(const std::string &xml) {
char error[1000];
mjSpec *ptr = mj_parseXMLString(xml.c_str(), nullptr, error, sizeof(error));
@@ -12945,6 +12952,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
function("mjv_updateSkin", &mjv_updateSkin_wrapper);
function("parseXMLString", &parseXMLString_wrapper, take_ownership());
function("error", &error_wrapper);
function("mj_saveModel", &mj_saveModel_wrapper);
function("mj_saveLastXML", &mj_saveLastXML_wrapper);
function("mj_setLengthRange", &mj_setLengthRange_wrapper);
// mj_compile is bound using two overloads to handle the optional MjVFS argument,
@@ -12973,6 +12981,13 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.function("GetElementCount", &WasmBuffer<int>::GetElementCount)
.function("GetView", &WasmBuffer<int>::GetView);
emscripten::class_<WasmBuffer<uint8_t>>("Uint8Buffer")
.constructor<int>()
.class_function("FromArray", &WasmBuffer<uint8_t>::FromArray)
.function("GetPointer", &WasmBuffer<uint8_t>::GetPointer)
.function("GetElementCount", &WasmBuffer<uint8_t>::GetElementCount)
.function("GetView", &WasmBuffer<uint8_t>::GetView);
emscripten::register_vector<std::string>("mjStringVec");
emscripten::register_vector<int>("mjIntVec");
emscripten::register_vector<mjIntVec>("mjIntVecVec");
@@ -12994,6 +13009,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
emscripten::register_type<NumberOrString>("number|string");
emscripten::register_type<NumberArray>("number[]");
emscripten::register_type<String>("string");
emscripten::register_type<StringOrNull>("string|null");
emscripten::constant("mjMAXCONPAIR", mjMAXCONPAIR);
emscripten::constant("mjMAXIMP", mjMAXIMP);