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Add aliases for MjModel loading functions and expose string constants as properties.

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Introduces `from_xml_path` and `from_binary_path` as more idiomatic aliases for `mj_loadXML` and `mj_loadModel` respectively. Refactors the binding of `mj*STRING` constants. Instead of exposing `get_mj*STRING` functions, these constants are now available as properties on the `Module` object. Runtime getters are added via EM_ASM to lazily call the underlying C++ functions.

PiperOrigin-RevId: 882566011
Change-Id: Id3bd5c23704fd122af30a50aed089bd3143fbc96
This commit is contained in:
Google DeepMind
2026-03-12 06:58:20 -07:00
committed by Copybara-Service
parent a62501f305
commit df0bc58578
5 changed files with 85 additions and 14 deletions
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wasm/codegen/generators/structs.py
+10
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@@ -553,15 +553,25 @@ def _build_struct_bindings(
'.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(f'.class_function("mj_loadModel", &{f2})')
builder.line(f'.class_function("from_binary_path", &{f2})')
builder.line(".constructor<const MjModel &>()")
builder.line("""
// Binds the functions on MjModel that return accessors.