Add from_xml_string to MuJoCo WASM bindings.

This change introduces new functions to load an `mjModel` from an XML string. Two overloads are provided: one that creates a temporary VFS and one that uses a MjVFS arg.

Also updated other places where `from_xml_string` should be used: demos, readme, etc.

PiperOrigin-RevId: 882581762
Change-Id: I8428196f8f56ae9630fcd4f0bb6763cdc1c43da0

wasm/README.md

@@ -307,7 +307,7 @@ The function `mjv_updateScene` populates an `mjvScene` object with information
 from `mjModel` and `mjData`.
 ```typescript
 // Create instances of the necessary structs.
-const model = mujoco.MjModel.loadFromXML(xmlContent);
+const model = mujoco.MjModel.from_xml_string(xmlContent);
 const data = new mujoco.MjData(model);
 const scene = new mujoco.MjvScene(model, 1000);
 const option = new mujoco.MjvOption();

wasm/codegen/generated/bindings.cc

@@ -17,6 +17,7 @@
 
 #include <emscripten.h>
 #include <emscripten/bind.h>
+#include <emscripten/em_asm.h>
 #include <emscripten/val.h>
 
 #include <algorithm>
@@ -8361,6 +8362,39 @@ std::unique_ptr<MjModel> mj_loadModel_wrapper(std::string filename, const MjVFS&
   return std::unique_ptr<MjModel>(new MjModel(model));
 }
 
+std::unique_ptr<MjModel> from_xml_string_wrapper_1(const std::string& xml) {
+  mjVFS vfs;
+  mj_defaultVFS(&vfs);
+  const char* filename = "model.xml";
+  int add_result = mj_addBufferVFS(&vfs, filename, xml.c_str(), xml.length());
+  if (add_result != 0) {
+    mj_deleteVFS(&vfs);
+    mju_error("Could not add XML string to VFS: %d", add_result);
+  }
+  char error[1000];
+  mjModel* model = mj_loadXML(filename, &vfs, error, sizeof(error));
+  mj_deleteVFS(&vfs);
+  if (!model) {
+    mju_error("Loading error: %s\n", error);
+  }
+  return std::unique_ptr<MjModel>(new MjModel(model));
+}
+
+std::unique_ptr<MjModel> from_xml_string_wrapper_2(const std::string& xml, const MjVFS& vfs) {
+  std::string filename = "model.xml";
+  int add_result = mj_addBufferVFS(vfs.get(), filename.c_str(), xml.c_str(), xml.length());
+  if (add_result != 0) {
+    mju_error("Could not add XML string to VFS: %d", add_result);
+  }
+  char error[1000];
+  mjModel* model = mj_loadXML(filename.c_str(), vfs.get(), error, sizeof(error));
+  mj_deleteFileVFS(vfs.get(), filename.c_str());
+  if (!model) {
+    mju_error("Loading error: %s\n", error);
+  }
+  return std::unique_ptr<MjModel>(new MjModel(model));
+}
+
 std::unique_ptr<MjSpec> parseXMLString_wrapper(const std::string &xml) {
   char error[1000];
   mjSpec *ptr = mj_parseXMLString(xml.c_str(), nullptr, error, sizeof(error));
@@ -11596,12 +11630,16 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
     .property("useexisting", &MjLROpt::useexisting, &MjLROpt::set_useexisting, reference())
     .property("uselimit", &MjLROpt::uselimit, &MjLROpt::set_uselimit, reference());
   emscripten::class_<MjModel>("MjModel")
+    // mj_loadXML is deprecated and will be removed in a future release
     .class_function("mj_loadXML", emscripten::select_overload<std::unique_ptr<MjModel>(std::string)>(&mj_loadXML_wrapper_1))
-    .class_function("from_xml_path", 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("from_xml_path", emscripten::select_overload<std::unique_ptr<MjModel>(std::string, const MjVFS&)>(&mj_loadXML_wrapper_2))
+    // mj_loadModel is deprecated and will be removed in a future release
     .class_function("mj_loadModel", &mj_loadModel_wrapper)
     .class_function("from_binary_path", &mj_loadModel_wrapper)
+    .class_function("from_xml_string", emscripten::select_overload<std::unique_ptr<MjModel>(const std::string&)>(&from_xml_string_wrapper_1))
+    .class_function("from_xml_string", emscripten::select_overload<std::unique_ptr<MjModel>(const std::string&, const MjVFS&)>(&from_xml_string_wrapper_2))
+    .class_function("from_xml_path", emscripten::select_overload<std::unique_ptr<MjModel>(std::string)>(&mj_loadXML_wrapper_1))
+    .class_function("from_xml_path", emscripten::select_overload<std::unique_ptr<MjModel>(std::string, const MjVFS&)>(&mj_loadXML_wrapper_2))
     .constructor<const MjModel &>()
     // Binds the functions on MjModel that return accessors.
     #define X_ACCESSOR(NAME, Name, OBJTYPE, field_name, nfield) \
@@ -13382,6 +13420,8 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
   // as using std::optional<MjVFS> caused memory errors due to missing copy/move constructors.
   function("mj_compile", emscripten::select_overload<std::unique_ptr<MjModel>(const MjSpec&)>(&mj_compile_wrapper_1));
   function("mj_compile", emscripten::select_overload<std::unique_ptr<MjModel>(const MjSpec&, const MjVFS&)>(&mj_compile_wrapper_2));
+  function("from_xml_string", emscripten::select_overload<std::unique_ptr<MjModel>(const std::string&)>(&from_xml_string_wrapper_1));
+  function("from_xml_string", emscripten::select_overload<std::unique_ptr<MjModel>(const std::string&, const MjVFS&)>(&from_xml_string_wrapper_2));
 
   emscripten::class_<WasmBuffer<float>>("FloatBuffer")
       .constructor<int>()

wasm/codegen/generators/structs.py

@@ -549,29 +549,46 @@ def _build_struct_bindings(
       MJDATA_ACCESSORS
     #undef X_ACCESSOR""".lstrip())
     elif w == "MjModel":
+      builder.line(
+          "// mj_loadXML is deprecated and will be removed in a future release"
+      )
       builder.line(
           '.class_function("mj_loadXML",'
           " emscripten::select_overload<std::unique_ptr<MjModel>(std::string)>(&mj_loadXML_wrapper_1))"
       )
-      builder.line(
-          '.class_function("from_xml_path",'
-          " emscripten::select_overload<std::unique_ptr<MjModel>(std::string)>(&mj_loadXML_wrapper_1))"
-      )
       builder.line(
           '.class_function("mj_loadXML",'
           " emscripten::select_overload<std::unique_ptr<MjModel>(std::string,"
           " const MjVFS&)>(&mj_loadXML_wrapper_2))"
       )
-      builder.line(
-          '.class_function("from_xml_path",'
-          " emscripten::select_overload<std::unique_ptr<MjModel>(std::string,"
-          " const MjVFS&)>(&mj_loadXML_wrapper_2))"
-      )
       f2 = common.wrapped_function_name(
           introspect_functions.FUNCTIONS["mj_loadModel"]
       )
+      builder.line(
+          "// mj_loadModel is deprecated and will be removed in a future"
+          " release"
+      )
       builder.line(f'.class_function("mj_loadModel", &{f2})')
       builder.line(f'.class_function("from_binary_path", &{f2})')
+      builder.line(
+          '.class_function("from_xml_string",'
+          " emscripten::select_overload<std::unique_ptr<MjModel>(const"
+          " std::string&)>(&from_xml_string_wrapper_1))"
+      )
+      builder.line(
+          '.class_function("from_xml_string",'
+          " emscripten::select_overload<std::unique_ptr<MjModel>(const"
+          " std::string&, const MjVFS&)>(&from_xml_string_wrapper_2))"
+      )
+      builder.line(
+          '.class_function("from_xml_path",'
+          " emscripten::select_overload<std::unique_ptr<MjModel>(std::string)>(&mj_loadXML_wrapper_1))"
+      )
+      builder.line(
+          '.class_function("from_xml_path",'
+          " emscripten::select_overload<std::unique_ptr<MjModel>(std::string,"
+          " const MjVFS&)>(&mj_loadXML_wrapper_2))"
+      )
       builder.line(".constructor<const MjModel &>()")
       builder.line("""
   // Binds the functions on MjModel that return accessors.

wasm/codegen/templates/bindings.cc

@@ -17,6 +17,7 @@
 
 #include <emscripten.h>
 #include <emscripten/bind.h>
+#include <emscripten/em_asm.h>
 #include <emscripten/val.h>
 
 #include <algorithm>
@@ -746,6 +747,39 @@ std::unique_ptr<MjModel> mj_loadModel_wrapper(std::string filename, const MjVFS&
   return std::unique_ptr<MjModel>(new MjModel(model));
 }
 
+std::unique_ptr<MjModel> from_xml_string_wrapper_1(const std::string& xml) {
+  mjVFS vfs;
+  mj_defaultVFS(&vfs);
+  const char* filename = "model.xml";
+  int add_result = mj_addBufferVFS(&vfs, filename, xml.c_str(), xml.length());
+  if (add_result != 0) {
+    mj_deleteVFS(&vfs);
+    mju_error("Could not add XML string to VFS: %d", add_result);
+  }
+  char error[1000];
+  mjModel* model = mj_loadXML(filename, &vfs, error, sizeof(error));
+  mj_deleteVFS(&vfs);
+  if (!model) {
+    mju_error("Loading error: %s\n", error);
+  }
+  return std::unique_ptr<MjModel>(new MjModel(model));
+}
+
+std::unique_ptr<MjModel> from_xml_string_wrapper_2(const std::string& xml, const MjVFS& vfs) {
+  std::string filename = "model.xml";
+  int add_result = mj_addBufferVFS(vfs.get(), filename.c_str(), xml.c_str(), xml.length());
+  if (add_result != 0) {
+    mju_error("Could not add XML string to VFS: %d", add_result);
+  }
+  char error[1000];
+  mjModel* model = mj_loadXML(filename.c_str(), vfs.get(), error, sizeof(error));
+  mj_deleteFileVFS(vfs.get(), filename.c_str());
+  if (!model) {
+    mju_error("Loading error: %s\n", error);
+  }
+  return std::unique_ptr<MjModel>(new MjModel(model));
+}
+
 std::unique_ptr<MjSpec> parseXMLString_wrapper(const std::string &xml) {
   char error[1000];
   mjSpec *ptr = mj_parseXMLString(xml.c_str(), nullptr, error, sizeof(error));
@@ -845,6 +879,8 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
   // as using std::optional<MjVFS> caused memory errors due to missing copy/move constructors.
   function("mj_compile", emscripten::select_overload<std::unique_ptr<MjModel>(const MjSpec&)>(&mj_compile_wrapper_1));
   function("mj_compile", emscripten::select_overload<std::unique_ptr<MjModel>(const MjSpec&, const MjVFS&)>(&mj_compile_wrapper_2));
+  function("from_xml_string", emscripten::select_overload<std::unique_ptr<MjModel>(const std::string&)>(&from_xml_string_wrapper_1));
+  function("from_xml_string", emscripten::select_overload<std::unique_ptr<MjModel>(const std::string&, const MjVFS&)>(&from_xml_string_wrapper_2));
 
   emscripten::class_<WasmBuffer<float>>("FloatBuffer")
       .constructor<int>()

wasm/demo_app/app.ts

@@ -205,10 +205,7 @@ class App {
   }
 
   loadModel(xmlContent: string) {
-    // Write xml as a file so that mujoco can find it
-    (mujoco as any).FS.writeFile('/working/model.xml', xmlContent);
-
-    this.mjModel = mujoco.MjModel.mj_loadXML('/working/model.xml');
+    this.mjModel = mujoco.MjModel.from_xml_string(xmlContent);
     if (!app.mjModel) {
       throw new Error('Failed to load model');
     }
@@ -437,8 +434,6 @@ function setupWindowEvents() {
   // Tip: put "window.dispatchEvent(new Event('unload'))" in the console to test
   window.addEventListener('unload', () => {
     app.dispose();
-
-    (mujoco as any).FS.unmount('/working');
   });
 
   window.addEventListener('keydown', (event) => {
@@ -464,10 +459,6 @@ async function main() {
   try {
     mujoco = await loadMujoco();
 
-    // Set up emscripten virtual file system
-    (mujoco as any).FS.mkdir('/working');
-    (mujoco as any).FS.mount((mujoco as any).MEMFS, {root: '.'}, '/working');
-
     app = new App();
 
     setupWindowEvents();

wasm/tests/bindings_test.ts

@@ -2603,4 +2603,56 @@ describe('MuJoCo WASM Bindings', () => {
     }
   });
 
+  it('should load a model from an XML string', () => {
+    let model: MjModel|null = null;
+    try {
+      model = mujoco.from_xml_string(TEST_XML);
+      assertExists(model);
+      expect(model.nbody).toBe(5);
+      expect(model.ngeom).toBe(3);
+    } finally {
+      model?.delete();
+    }
+  });
+
+  it('should load a model from an XML string with VFS', () => {
+    const xml = `
+    <mujoco>
+      <asset>
+        <mesh file="cube.obj"/>
+      </asset>
+      <worldbody>
+        <geom type="mesh" mesh="cube"/>
+      </worldbody>
+    </mujoco>`;
+
+    const cube1 = `
+    v -1 -1  1
+    v  1 -1  1
+    v -1  1  1
+    v  1  1  1
+    v -1  1 -1
+    v  1  1 -1
+    v -1 -1 -1
+    v  1 -1 -1`;
+
+    let model: MjModel|null = null;
+    let vfs: MjVFS|null = null;
+    try {
+      vfs = new mujoco.MjVFS();
+      vfs.addBuffer('cube.obj', new TextEncoder().encode(cube1));
+      assertExists(vfs);
+
+      model = mujoco.from_xml_string(xml, vfs);
+      assertExists(model);
+      expect(model.nmesh).toBe(1);
+
+      const meshId =
+          mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_MESH.value, 'cube');
+      expect(meshId).toBeGreaterThanOrEqual(0);
+    } finally {
+      model?.delete();
+      vfs?.delete();
+    }
+  });
 });

wasm/tests/sandbox/main.ts

@@ -20,9 +20,6 @@ declare function loadMujoco(): Promise<MainModule>;
 async function main() {
   const mujoco: MainModule = await loadMujoco();
 
-  (mujoco as any).FS.mkdir('/working');
-  (mujoco as any).FS.mount((mujoco as any).MEMFS, {root: '.'}, '/working');
-
   const xmlContent = `
     <mujoco model="Box falling">
       <option viscosity="1"/>
@@ -37,13 +34,12 @@ async function main() {
       </worldbody>
     </mujoco>`;
 
-  (mujoco as any).FS.writeFile('/working/hello.xml', xmlContent);
   let model: MjModel|undefined;
   let data: MjData|undefined;
 
   try {
     console.log('Hello world!: Loading model');
-    model = mujoco.MjModel.mj_loadXML('/working/hello.xml');
+    model = mujoco.MjModel.from_xml_string(xmlContent);
     if (!model) {
       throw new Error('Failed to load model');
     }
@@ -57,7 +53,6 @@ async function main() {
   } finally {
     model?.delete();
     data?.delete();
-    (mujoco as any).FS.unmount('/working');
   }
 }