chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add support for loading XML models with VFS in WASM bindings.

Browse Source 
PiperOrigin-RevId: 874756898
Change-Id: If2c30aef4c690cf0852587261ca32a3b91448621
This commit is contained in:
Google DeepMind
2026-02-24 13:08:14 -08:00
committed by Copybara-Service
parent 09c7633a76
commit a83fa7299d
4 changed files with 79 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
wasm/codegen/generated/bindings.cc
+13 -3
View File
@@ -8329,7 +8329,7 @@ MjSpec::~MjSpec() {
mjSpec *MjSpec::get() const { return ptr_; }
void MjSpec::set(mjSpec *ptr) { ptr_ = ptr; }
std::unique_ptr<MjModel> mj_loadXML_wrapper(std::string filename) {
std::unique_ptr<MjModel> mj_loadXML_wrapper_1(std::string filename) {
char error[1000];
mjModel *model = mj_loadXML(filename.c_str(), nullptr, error, sizeof(error));
if (!model) {
@@ -8338,6 +8338,15 @@ std::unique_ptr<MjModel> mj_loadXML_wrapper(std::string filename) {
return std::unique_ptr<MjModel>(new MjModel(model));
}
std::unique_ptr<MjModel> mj_loadXML_wrapper_2(std::string filename, const MjVFS& vfs) {
char error[1000];
mjModel *model = mj_loadXML(filename.c_str(), vfs.get(), error, sizeof(error));
if (!model) {
mju_error("Loading error: %s\n", error);
}
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);
@@ -11581,8 +11590,9 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("useexisting", &MjLROpt::useexisting, &MjLROpt::set_useexisting, reference())
.property("uselimit", &MjLROpt::uselimit, &MjLROpt::set_uselimit, reference());
emscripten::class_<MjModel>("MjModel")
.class_function("mj_loadXML", &mj_loadXML_wrapper, take_ownership())
.class_function("mj_loadBinary", &mj_loadModel_wrapper, take_ownership())
.class_function("mj_loadXML", emscripten::select_overload<std::unique_ptr<MjModel>(std::string)>(&mj_loadXML_wrapper_1))
.class_function("mj_loadXML", emscripten::select_overload<std::unique_ptr<MjModel>(std::string, const MjVFS&)>(&mj_loadXML_wrapper_2))
.class_function("mj_loadModel", &mj_loadModel_wrapper)
.constructor<const MjModel &>()
// Binds the functions on MjModel that return accessors.
#define X_ACCESSOR(NAME, Name, OBJTYPE, field_name, nfield) \