477a14dcb2
Add WASM binding for mj_compile.
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It does not support model assets management via VFS yet.
PiperOrigin-RevId: 844864882
Change-Id: I422d7896ed024fc6f5c3fa923a58cdc9059f3bee
2025-12-15 11:58:26 -08:00
caec236b2f
Make mj_loadModelBuffer a public API.
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PiperOrigin-RevId: 843105390
Change-Id: I4058471b4cf64995dd5ab43e9c8c24e322004b62
2025-12-11 01:24:17 -08:00
4c40d5938e
Add type hints to tuple constants in codegen/generators/constants.py.
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`tuple` is better than `list` for constants if we don't expect they get modified by other parts of the code
PiperOrigin-RevId: 838748519
Change-Id: Ic950a78be7ad7518361c046d7e4542607070d3a2
2025-12-01 06:37:03 -08:00
8a5c52d395
Use a dedicated function for wrapper struct names
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This change introduces a `wrapper_struct_name` function in `structs.py` to consistently generate the name of the C++ wrapper struct from a C struct name. All call sites in `functions.py` and `structs.py` that previously used `common.capitalize` for this purpose now call `wrapper_struct_name`.
PiperOrigin-RevId: 837544242
Change-Id: Ibe5fea8294283dae63bb8d064fd8beb8cfd3f2fe
2025-11-27 08:42:33 -08:00
9ca1598b23
Refactor MuJoCo WASM struct codegen.
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PiperOrigin-RevId: 837530063
Change-Id: I57518b2fbb536f356a5e15839d8e17f455bccde9
2025-11-27 07:42:41 -08:00
05f194c412
Reorganization of the WASM bindings.cc template
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* Move all bindings into a single EMSCRIPTEN_BINDINGS block
* Move all auto generated bindings line to the start of the block
* Alphabetically sort the constants binding lines
PiperOrigin-RevId: 837142009
Change-Id: I218a37dbc0ca6c6f16a455718889c08fe1b41d56
2025-11-26 08:43:51 -08:00
181dcab6be
Combine markers and content and reorganize parts of the WASM template file
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PiperOrigin-RevId: 836729951
Change-Id: Ib3bb25a23325cfbd84fd0439243db37ca8236bf3
2025-11-25 10:40:44 -08:00
6e59f61c70
Make WASM codegen output to be alphabetically ordered.
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PiperOrigin-RevId: 836680575
Change-Id: I7ddb7267c0db4911b2e84528f948dee6fccdf81d
2025-11-25 08:29:30 -08:00
711a388b3d
Sort and generate optional struct bindings in WASM.
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PiperOrigin-RevId: 836273537
Change-Id: I2af2401969a4780f593df86dc9336adcc285fd1b
2025-11-24 10:18:09 -08:00
217317ccba
Change WASM generators from classes to functions.
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PiperOrigin-RevId: 836257289
Change-Id: I7a3c1d7bb545353a3d278330582e33c0551792cb
2025-11-24 09:36:36 -08:00
ee8dbd4347
Simplify enum WASM bindings generator
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PiperOrigin-RevId: 834725472
Change-Id: I278447145cd8dcdd145f0d50bc3bae649ea2b440
2025-11-20 05:52:02 -08:00
a0d49ade1b
More simplification to functions.py in WASM bindings
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PiperOrigin-RevId: 834643175
Change-Id: Iff873f6f0916e0039ff6a44468afd9b4d8f98f37
2025-11-20 01:06:29 -08:00
102f382c9d
Rename uppercase_first_letter to capitalize
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Also rename `lowercase_first_letter` to `decapitalize`
PiperOrigin-RevId: 834622292
Change-Id: I1cfbda1be782ff40dd3fc0726601cc6b1f427345
2025-11-19 23:54:02 -08:00
48ecddbe3b
Simplify functions.py in WASM bindings generation
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PiperOrigin-RevId: 834470193
Change-Id: I3c26d65ea8812fd6a4c78264fbce8353bac6fb2f
2025-11-19 15:35:45 -08:00
49394d57d9
Rename WASM binding wrapper functions and reorder generated code.
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PiperOrigin-RevId: 834265965
Change-Id: I58e7d572dcae4f1ca262ae5d876fcd8353af183c
2025-11-19 06:26:03 -08:00
10fe5ff07f
Generate MjVisual, MjModel, MjData and MjSpec structs declaration
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PiperOrigin-RevId: 834264723
Change-Id: Id33d7568a1f9f0cfb1271cf9dd2d8713c00eee34
2025-11-19 06:22:28 -08:00
53e254b715
Generate using declarations for anonymous structs in WASM bindings.
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PiperOrigin-RevId: 832359379
Change-Id: Ie5913c584c5605f512dbe423524a829043179b6f
2025-11-14 10:03:12 -08:00
a36f452250
Refactor MuJoCo WASM bindings functions code generation and auto-generate functions requiring argument boundchecks.
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PiperOrigin-RevId: 832333773
Change-Id: Id2e1a59e8d366baa2ee044d693f76aadcd1dfd32
2025-11-14 08:51:18 -08:00
fa79276290
Remove destructors from Mjs wrapper structs.
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PiperOrigin-RevId: 831001833
Change-Id: I54550737a4c1cb504bf62b9bfed12d7a70434233
2025-11-11 11:31:21 -08:00
6d261528e0
Enhance error reporting in WASM codegen generators.
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In `structs.py`, a `RuntimeError` is now raised when an anonymous struct is encountered but is not present in `STRUCTS_TO_BIND`.
PiperOrigin-RevId: 830978376
Change-Id: Id64720a12c3cce313bd513a40a74ddf57718a7d1
2025-11-11 10:38:39 -08:00
8e4a5901c3
Rename internal lists of skipped functions in constants.py.
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PiperOrigin-RevId: 830976939
Change-Id: I833ef4c98107e19822f5e96c7541d294e129ac6c
2025-11-11 10:35:22 -08:00
54661ab140
Fully generate Emscripten bindings for MuJoCo functions.
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PiperOrigin-RevId: 830975595
Change-Id: Ie4d0d16c80f490abaa5ae8218628ac1b3d32c0ef
2025-11-11 10:32:04 -08:00
3e167e0f0b
Correctly format constructor initializer lists in struct wrappers.
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PiperOrigin-RevId: 830887996
Change-Id: Ibe663fcc17571ad1fd62d70249687c917653618e
2025-11-11 06:38:19 -08:00
75774b2a35
Simplify struct header generation by merging the internal _build_struct_header_internal function into build_struct_header
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PiperOrigin-RevId: 830878041
Change-Id: I6867984ac6ec091daaf2172fbde0e6ac6f38d1f3
2025-11-11 06:03:13 -08:00
4e46db8903
Refactor WASM binding directory structure
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* All tests moved into wasm/codegen/tests folder
* Merged wasm/codegen/helpers/ into wasm/codegen/generators/
PiperOrigin-RevId: 829471173
Change-Id: I2dbc5d9351771817ec260c7ddf87c31e66a9eabe
2025-11-07 09:37:26 -08:00
44220fcc51
Refactor WASM bindings in preparation for codegen directory structure update
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PiperOrigin-RevId: 829459535
Change-Id: I4045e163a6e7fcee9d9585131d1e5e30f0b50b89
2025-11-07 09:02:43 -08:00
06ecdd6ba1
Refactor: Generate all struct bindings within the codegen.
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PiperOrigin-RevId: 828973537
Change-Id: I3f371d2f88e1cd9b1bb5c0a9c6a5ace7a21673fb
2025-11-06 08:49:48 -08:00
3577c98f82
Refactor Emscripten bindings generation for MuJoCo structs.
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PiperOrigin-RevId: 828550215
Change-Id: Iab0bf3a9fbaca4d7774f89a4d8977e762aa57629
2025-11-05 11:14:29 -08:00
8104235f8e
Generate wrappers for anonymous structs within mjVisual.
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PiperOrigin-RevId: 828548681
Change-Id: I07f8b407157b91ac24b38604b20826541e20e23e
2025-11-05 11:10:52 -08:00
fe1b6b7c80
Refactor: Group autogenerated structs source in bindings.cc
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This change modifies the code generation for structs in `bindings.cc`. Instead of placing each struct's constructor and member functions under individual markers, all autogenerated struct source code is now grouped together under a single `// {{ AUTOGENNED_STRUCTS_SOURCE }}` marker. This improves the organization of the generated file and simplifies the template.
Future work would move the rest of the structs into this pattern
PiperOrigin-RevId: 828390272
Change-Id: Iee9d0e8766db86b2c1d4296a37ac7a8e6e05428b
2025-11-05 03:26:09 -08:00
5b00b033af
Refactor struct dependency sorting to use wrapped field data.
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The `sort_structs_by_dependency` function now takes a dictionary of `WrappedStructData` and uses the pre-computed `typename` within `WrappedFieldData` for dependency analysis, instead of re-introspecting the AST. This change also includes populating the `typename` in various `WrappedFieldData` generation methods.
PiperOrigin-RevId: 828389481
Change-Id: Ie97c1a66e5e69bd148a928fda26afdaa09f56687
2025-11-05 03:23:35 -08:00
29c1a3a0a5
Cleanup WASM bindings generators so they all have a similar interface
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PiperOrigin-RevId: 827965451
Change-Id: I657fc4d3a480fbc62124c84fe9ddc0900a91183f
2025-11-04 07:32:32 -08:00
f808632cf8
Rename WASM bindings function helper file
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PiperOrigin-RevId: 827897836
Change-Id: Ifb13ebaf54dacabc2a3ed8a8ea4244ecea2a8f41
2025-11-04 03:57:03 -08:00
12a31674a3
Consolidate WASM bindings struct generator helper files into helpers/structs.py
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PiperOrigin-RevId: 827889180
Change-Id: I5f8bf0e25d1af7b21b554672bd438bbcd04e62be
2025-11-04 03:23:24 -08:00
9b71fc728d
Consolidate WASM bindings test files
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PiperOrigin-RevId: 827888382
Change-Id: I4ded54cd49182de0b4243770e2507038ad6fac7a
2025-11-04 03:19:35 -08:00
3d59b20b65
Simplified struct code generation for WASM bindings
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PiperOrigin-RevId: 827878780
Change-Id: I97ab732eb11c63a6aaf7fa95add0b51bc0a56525
2025-11-04 02:51:11 -08:00
c22d94e470
Various minor cleanups to WASM code generation
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* Add newline function to code_builder
* Remove type aliases which made jump to definition less ergonomic
* Add types to constants
PiperOrigin-RevId: 827863199
Change-Id: Ib4390d398926466ecce491a3d0ebe308ed5e0cbe
2025-11-04 02:07:27 -08:00
4086261714
Add JavaScript bindings and WASM support
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Co-authored-by: Matija Kecman <matijak@google.com >
Co-authored-by: Sebastian Noreña Rendón <sebas.norena@creativa77.com.ar >
Co-authored-by: Kyle Bayes <kylebayes@google.com >
PiperOrigin-RevId: 826479070
Change-Id: I25acf36e6c20b091d8492e10798d028ae66f6733
2025-10-31 07:21:18 -07:00
f2badc05ac
Add JavaScript bindings and WASM support
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Co-authored-by: Matija Kecman <matijak@google.com >
Co-authored-by: Sebastian Noreña Rendón <sebas.norena@creativa77.com.ar >
Co-authored-by: Kyle Bayes <kylebayes@google.com >
PiperOrigin-RevId: 826109484
Change-Id: I327fd54122762bd2e239cc31c602a3eb73051c26
2025-10-30 11:11:52 -07:00
76e64d96bb
Add JavaScript bindings and WASM support
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Co-authored-by: Matija Kecman <matijak@google.com >
Co-authored-by: Sebastian Noreña Rendón <sebas.norena@creativa77.com.ar >
Co-authored-by: Kyle Bayes <kylebayes@google.com >
PiperOrigin-RevId: 826094938
Change-Id: Id2658a187bc078056f4410c71202696753319e64
2025-10-30 10:38:16 -07:00
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