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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/tests/bindings_test.ts
+7 -7
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@@ -683,24 +683,24 @@ describe('MuJoCo WASM Bindings', () => {
it('should check constants values', () => {
expect(mujoco.mjNEQDATA).toBe(11);
expect(mujoco.get_mjDISABLESTRING()).toEqual([
expect(mujoco.mjDISABLESTRING).toEqual([
'Constraint', 'Equality', 'Frictionloss', 'Limit', 'Contact', 'Spring',
'Damper', 'Gravity', 'Clampctrl', 'Warmstart', 'Filterparent',
'Actuation', 'Refsafe', 'Sensor', 'Midphase', 'Eulerdamp', 'AutoReset',
'NativeCCD', 'Island'
]);
expect(mujoco.get_mjRNDSTRING()).toEqual([
expect(mujoco.mjRNDSTRING).toEqual([
['Shadow', '1', 'S'], ['Wireframe', '0', 'W'], ['Reflection', '1', 'R'],
['Additive', '0', 'L'], ['Skybox', '1', 'K'], ['Fog', '0', 'G'],
['Haze', '1', '/'], ['Depth', '0', ''], ['Segment', '0', ','],
['Id Color', '0', ''], ['Cull Face', '1', '']
]);
expect(mujoco.get_mjFRAMESTRING().length)
.toEqual(mujoco.mjtFrame.mjNFRAME.value);
expect(mujoco.get_mjVISSTRING().length)
expect(mujoco.mjFRAMESTRING.length).toEqual(mujoco.mjtFrame.mjNFRAME.value);
expect(mujoco.mjVISSTRING.length)
.toEqual(mujoco.mjtVisFlag.mjNVISFLAG.value);
expect(mujoco.get_mjVISSTRING()[mujoco.mjtVisFlag.mjVIS_INERTIA.value])
.toEqual(['Inertia', '0', 'I']);
expect(mujoco.mjVISSTRING[mujoco.mjtVisFlag.mjVIS_INERTIA.value]).toEqual([
'Inertia', '0', 'I'
]);
});
it('should create a spec from XML', () => {