Rename MuJoCo WASM output artifacts to mujoco.*.

This change updates the Emscripten build to output files named `mujoco.js`, `mujoco.wasm`, and `mujoco.d.ts` instead of `mujoco_wasm.*`. The internal CMake target name remains `mujoco_wasm` to avoid conflicts. The package name in `package.json` is also updated to `mujoco`. New enum tests are added.

PiperOrigin-RevId: 875140314
Change-Id: Ie03e0d1db2d03dd8582d5bfcb260b3d33549c2c9

wasm/CMakeLists.txt

@@ -46,13 +46,19 @@ set(EMCC_LINKER_FLAGS
     "-s DISABLE_EXCEPTION_CATCHING=0"
     "-gsource-map"
     "-g"
-    "--emit-tsd mujoco_wasm.d.ts"
+    "--emit-tsd mujoco.d.ts"
 )
 string (REPLACE ";" " " EMCC_LINKER_FLAGS_STR "${EMCC_LINKER_FLAGS}")
 
 add_executable(mujoco_wasm ${MUJOCO_WASM_FILES})
 
-set_target_properties(mujoco_wasm PROPERTIES LINK_FLAGS "${EMCC_LINKER_FLAGS_STR}")
+# Keep the internal target name distinct to avoid colliding with the native
+# `mujoco` library target, but emit artifacts named `mujoco.*` by setting the
+# output name. Also apply the emscripten linker flags to the wasm target.
+set_target_properties(mujoco_wasm PROPERTIES
+    LINK_FLAGS "${EMCC_LINKER_FLAGS_STR}"
+    OUTPUT_NAME "mujoco"
+)
 
 target_link_libraries(mujoco_wasm ccd lodepng mujoco tinyxml2 qhullstatic_r)
 

wasm/codegen/tests/enums_test_generator.py

@@ -26,8 +26,8 @@ def generate_typescript_enum_tests():
   output = textwrap.dedent("""\
     import 'jasmine';
 
-    import { MainModule } from "../dist/mujoco_wasm"
+    import { MainModule } from "../dist/mujoco"
-    import loadMujoco from "../dist/mujoco_wasm.js"
+    import loadMujoco from "../dist/mujoco.js"
 
     let mujoco: MainModule;
 

wasm/demo_app/app.ts

@@ -14,7 +14,7 @@
 
 import * as THREE from "three"
 import { OrbitControls } from "three/examples/jsm/controls/OrbitControls.js"
-import loadMujoco from "../dist/mujoco_wasm.js"
+import loadMujoco from "../dist/mujoco.js"
 
 declare function loadMujoco(): Promise<MainModule>;
 

wasm/package-lock.json

@@ -1,11 +1,11 @@
 {
-  "name": "mujoco_wasm",
+  "name": "mujoco",
   "version": "1.0.0-alpha.1",
   "lockfileVersion": 3,
   "requires": true,
   "packages": {
     "": {
-      "name": "mujoco_wasm",
+      "name": "mujoco",
       "version": "1.0.0-alpha.1",
       "license": "Apache-2.0",
       "devDependencies": {

wasm/package.json

@@ -1,5 +1,5 @@
 {
-  "name": "mujoco_wasm",
+  "name": "mujoco",
   "version": "1.0.0-alpha.1",
   "description": "MuJoCo JavaScript Bindings",
   "directories": {

wasm/tests/bindings_test.ts

@@ -17,9 +17,9 @@ import 'jasmine';
 import {MainModule, MjContact, MjContactVec, MjData, MjLROpt, MjModel,
 MjOption, MjsGeom, MjSolverStat, MjSpec, MjStatistic, MjTimerStat, MjvCamera,
 MjvFigure, MjvGeom, MjvGLCamera, MjvLight, MjvOption, MjvPerturb, MjvScene,
-MjWarningStat, MjVFS, Uint8Buffer} from '../dist/mujoco_wasm.js';
+MjWarningStat, MjVFS, Uint8Buffer} from '../dist/mujoco.js';
 
-import loadMujoco from '../dist/mujoco_wasm.js'
+import loadMujoco from '../dist/mujoco.js'
 
 function assertExists<T>(value: T | null | undefined, message?: string):
 asserts value is T {

wasm/tests/enums_test.ts

@@ -14,8 +14,8 @@
 
 import 'jasmine';
 
-import { MainModule } from "../dist/mujoco_wasm"
+import { MainModule } from "../dist/mujoco"
-import loadMujoco from "../dist/mujoco_wasm.js"
+import loadMujoco from "../dist/mujoco.js"
 
 let mujoco: MainModule;
 
@@ -40,6 +40,10 @@ describe('Enums', () => {
     expect(mujoco.mjtGeom).toBeDefined();
   });
 
+  it('mjtProjection should exist', () => {
+    expect(mujoco.mjtProjection).toBeDefined();
+  });
+
   it('mjtCamLight should exist', () => {
     expect(mujoco.mjtCamLight).toBeDefined();
   });
@@ -120,6 +124,14 @@ describe('Enums', () => {
     expect(mujoco.mjtConDataField).toBeDefined();
   });
 
+  it('mjtRayDataField should exist', () => {
+    expect(mujoco.mjtRayDataField).toBeDefined();
+  });
+
+  it('mjtCamOutBit should exist', () => {
+    expect(mujoco.mjtCamOutBit).toBeDefined();
+  });
+
   it('mjtSameFrame should exist', () => {
     expect(mujoco.mjtSameFrame).toBeDefined();
   });

wasm/tests/sandbox/main.ts

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-import { MainModule, MjData, MjModel } from "../../dist/mujoco_wasm"
+import { MainModule, MjData, MjModel } from "../../dist/mujoco"
-import loadMujoco from "../../dist/mujoco_wasm.js"
+import loadMujoco from "../../dist/mujoco.js"
 
 declare function loadMujoco(): Promise<MainModule>;