chenlin/Mujoco_WASM
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Use a dedicated function for wrapper struct names

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This change introduces a `wrapper_struct_name` function in `structs.py` to consistently generate the name of the C++ wrapper struct from a C struct name. All call sites in `functions.py` and `structs.py` that previously used `common.capitalize` for this purpose now call `wrapper_struct_name`.

PiperOrigin-RevId: 837544242
Change-Id: Ibe5fea8294283dae63bb8d064fd8beb8cfd3f2fe
This commit is contained in:
Google DeepMind
2025-11-27 08:41:25 -08:00
committed by Copybara-Service
parent 9ca1598b23
commit 8a5c52d395
11 changed files with 146 additions and 98 deletions
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wasm/tests/bindings_test.ts
+8 -8
View File
@@ -119,7 +119,7 @@ describe('MuJoCo WASM Bindings', () => {
writeXMLFile(tempXmlFilename, TEST_XML);
model = mujoco.MjModel!.loadFromXML(tempXmlFilename);
model = mujoco.MjModel!.mj_loadXML(tempXmlFilename);
if (!model) {
unlinkXMLFile(tempXmlFilename);
throw new Error('Failed to load model from XML');
@@ -182,7 +182,7 @@ describe('MuJoCo WASM Bindings', () => {
beforeEach(() => {
writeXMLFile(tempXmlFilename, simpleXmlContent);
simpleModel = mujoco.MjModel!.loadFromXML(tempXmlFilename);
simpleModel = mujoco.MjModel!.mj_loadXML(tempXmlFilename);
assertExists(simpleModel);
simpleData = new mujoco.MjData(simpleModel);
assertExists(simpleData);
@@ -345,7 +345,7 @@ describe('MuJoCo WASM Bindings', () => {
`;
const tempXmlFilename = '/tmp/model_c.xml';
writeXMLFile(tempXmlFilename, xmlString);
const model = mujoco.MjModel!.loadFromXML(tempXmlFilename);
const model = mujoco.MjModel!.mj_loadXML(tempXmlFilename);
expect(model).not.toBeNull();
const data = new mujoco.MjData(model!);
expect(data).not.toBeNull();
@@ -879,7 +879,7 @@ describe('MuJoCo WASM Bindings', () => {
writeXMLFile(model1XmlFilename, xml2);
writeXMLFile(model2XmlFilename, xml3);
const model = mujoco.MjModel!.loadFromXML(modelXmlFilename);
const model = mujoco.MjModel!.mj_loadXML(modelXmlFilename);
try {
expect(model).toBeDefined();
@@ -1078,7 +1078,7 @@ describe('MuJoCo WASM Bindings', () => {
it('should check MjContactVec equality', () => {
const tempXmlFilename2 = '/tmp/model2.xml';
writeXMLFile(tempXmlFilename2, TEST_XML);
const model2 = mujoco.MjModel!.loadFromXML(tempXmlFilename2);
const model2 = mujoco.MjModel!.mj_loadXML(tempXmlFilename2);
const data2 = new mujoco.MjData(model2);
try {
mujoco.mj_forward(model!, data!);
@@ -1635,7 +1635,7 @@ describe('MuJoCo WASM Bindings', () => {
`;
writeXMLFile(tempXmlFilename, TEST_XML_TEXTURE);
const model = mujoco.MjModel!.loadFromXML(tempXmlFilename);
const model = mujoco.MjModel!.mj_loadXML(tempXmlFilename);
try {
expect(model).toBeDefined();
expect(model!.tex_height).toEqual(new Int32Array([512]));
@@ -1754,7 +1754,7 @@ describe('MuJoCo WASM Bindings', () => {
</mujoco>`;
writeXMLFile(tempXmlFilename, xml);
const model = mujoco.MjModel!.loadFromXML(tempXmlFilename);
const model = mujoco.MjModel!.mj_loadXML(tempXmlFilename);
try {
mujoco.mj_saveLastXML(tempXmlFilename, model!);
const savedXmlContent =
@@ -1781,7 +1781,7 @@ describe('MuJoCo WASM Bindings', () => {
</actuator>
</mujoco>`;
writeXMLFile(tempXmlFilename, actuatorXml);
const model = mujoco.MjModel.loadFromXML(tempXmlFilename);
const model = mujoco.MjModel.mj_loadXML(tempXmlFilename);
assertExists(model);
const data = new mujoco.MjData(model);
assertExists(data);
wasm/tests/sandbox/main.ts
+1 -1
View File
@@ -43,7 +43,7 @@ async function main() {
try {
console.log('Hello world!: Loading model');
model = mujoco.MjModel.loadFromXML('/working/hello.xml');
model = mujoco.MjModel.mj_loadXML('/working/hello.xml');
if (!model) {
throw new Error('Failed to load model');
}