From 711a388b3d30f82bc1cd5de2ad3c8ae10e9b0690 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Mon, 24 Nov 2025 10:17:14 -0800
Subject: [PATCH] Sort and generate optional struct bindings in WASM.

PiperOrigin-RevId: 836273537
Change-Id: I2af2401969a4780f593df86dc9336adcc285fd1b
---
 wasm/codegen/generated/bindings.cc | 56 ++++++++++++++++--------------
 wasm/codegen/generators/structs.py | 13 +++++++
 wasm/codegen/templates/bindings.cc | 29 +---------------
 3 files changed, 43 insertions(+), 55 deletions(-)

diff --git a/wasm/codegen/generated/bindings.cc b/wasm/codegen/generated/bindings.cc
index c59a9278..f1580184 100644
--- a/wasm/codegen/generated/bindings.cc
+++ b/wasm/codegen/generated/bindings.cc
@@ -12776,34 +12776,36 @@ EMSCRIPTEN_BINDINGS(mujoco_functions) {
   register_type<NumberArray>("number[]");
   register_type<String>("string");
   register_vector<uint8_t>("mjByteVec");
-  register_optional<MjsElement>();
-  register_optional<MjsBody>();
-  register_optional<MjsSite>();
-  register_optional<MjsJoint>();
-  register_optional<MjsGeom>();
-  register_optional<MjsCamera>();
-  register_optional<MjsLight>();
-  register_optional<MjsFrame>();
-  register_optional<MjsActuator>();
-  register_optional<MjsSensor>();
-  register_optional<MjsFlex>();
-  register_optional<MjsPair>();
-  register_optional<MjsExclude>();
-  register_optional<MjsEquality>();
-  register_optional<MjsTendon>();
-  register_optional<MjsWrap>();
-  register_optional<MjsNumeric>();
-  register_optional<MjsText>();
-  register_optional<MjsTuple>();
-  register_optional<MjsKey>();
-  register_optional<MjsPlugin>();
-  register_optional<MjsDefault>();
-  register_optional<MjsMesh>();
-  register_optional<MjsHField>();
-  register_optional<MjsSkin>();
-  register_optional<MjsTexture>();
-  register_optional<MjsMaterial>();
   register_optional<MjSpec>();
+  register_optional<MjsActuator>();
+  register_optional<MjsBody>();
+  register_optional<MjsCamera>();
+  register_optional<MjsCompiler>();
+  register_optional<MjsDefault>();
+  register_optional<MjsElement>();
+  register_optional<MjsEquality>();
+  register_optional<MjsExclude>();
+  register_optional<MjsFlex>();
+  register_optional<MjsFrame>();
+  register_optional<MjsGeom>();
+  register_optional<MjsHField>();
+  register_optional<MjsJoint>();
+  register_optional<MjsKey>();
+  register_optional<MjsLight>();
+  register_optional<MjsMaterial>();
+  register_optional<MjsMesh>();
+  register_optional<MjsNumeric>();
+  register_optional<MjsOrientation>();
+  register_optional<MjsPair>();
+  register_optional<MjsPlugin>();
+  register_optional<MjsSensor>();
+  register_optional<MjsSite>();
+  register_optional<MjsSkin>();
+  register_optional<MjsTendon>();
+  register_optional<MjsText>();
+  register_optional<MjsTexture>();
+  register_optional<MjsTuple>();
+  register_optional<MjsWrap>();
 }
 
 }  // namespace mujoco::wasm
diff --git a/wasm/codegen/generators/structs.py b/wasm/codegen/generators/structs.py
index 5f6e2ac5..709803ab 100644
--- a/wasm/codegen/generators/structs.py
+++ b/wasm/codegen/generators/structs.py
@@ -776,4 +776,17 @@ def generate(struct_to_bind: List[str]) -> list[tuple[str, list[str]]]:
       "// {{ AUTOGENNED_STRUCTS_BINDINGS }}",
       autogenned_struct_bindings,
   ))
+
+  # Generate optional bindings
+  optional_bindings = []
+  for s_name in sorted(struct_to_bind):
+    w_name = common.capitalize(s_name)
+    if w_name.startswith("Mjs") or w_name == "MjSpec":
+      optional_bindings.append(f"register_optional<{w_name}>();")
+
+  markers_and_content.append((
+      "// {{ OPTIONAL_STRUCT_BINDINGS }}",
+      optional_bindings,
+  ))
+
   return markers_and_content
diff --git a/wasm/codegen/templates/bindings.cc b/wasm/codegen/templates/bindings.cc
index 99394700..c67f8768 100644
--- a/wasm/codegen/templates/bindings.cc
+++ b/wasm/codegen/templates/bindings.cc
@@ -516,34 +516,7 @@ EMSCRIPTEN_BINDINGS(mujoco_functions) {
   register_type<NumberArray>("number[]");
   register_type<String>("string");
   register_vector<uint8_t>("mjByteVec");
-  register_optional<MjsElement>();
-  register_optional<MjsBody>();
-  register_optional<MjsSite>();
-  register_optional<MjsJoint>();
-  register_optional<MjsGeom>();
-  register_optional<MjsCamera>();
-  register_optional<MjsLight>();
-  register_optional<MjsFrame>();
-  register_optional<MjsActuator>();
-  register_optional<MjsSensor>();
-  register_optional<MjsFlex>();
-  register_optional<MjsPair>();
-  register_optional<MjsExclude>();
-  register_optional<MjsEquality>();
-  register_optional<MjsTendon>();
-  register_optional<MjsWrap>();
-  register_optional<MjsNumeric>();
-  register_optional<MjsText>();
-  register_optional<MjsTuple>();
-  register_optional<MjsKey>();
-  register_optional<MjsPlugin>();
-  register_optional<MjsDefault>();
-  register_optional<MjsMesh>();
-  register_optional<MjsHField>();
-  register_optional<MjsSkin>();
-  register_optional<MjsTexture>();
-  register_optional<MjsMaterial>();
-  register_optional<MjSpec>();
+  // {{ OPTIONAL_STRUCT_BINDINGS }}
 }
 
 }  // namespace mujoco::wasm