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Add from_xml_string to MuJoCo WASM bindings.

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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
This commit is contained in:
Google DeepMind
2026-03-12 07:35:08 -07:00
committed by Copybara-Service
parent df0bc58578
commit b294d15558
7 changed files with 159 additions and 28 deletions
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wasm/codegen/generated/bindings.cc
+42 -2
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@@ -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>()