Implementation:Google deepmind Mujoco WASM Structs

Knowledge Sources	Google_deepmind_Mujoco
Domains	WebAssembly, Code Generation, Struct Bindings
Last Updated	2026-02-15 04:00 GMT

Overview

Generates Embind bindings for MuJoCo structs, producing C++ wrapper classes with property accessors for JavaScript interop.

Description

structs.py contains the code generation logic for creating Embind struct bindings. It defines WrappedFieldData (a dataclass for field binding, declaration, pointer initialization, copy reset, and type information) and provides _get_property_binding for generating C++ property accessor code and _generate_field_data for producing complete field definitions. The generator handles primitive fields, fixed-size arrays, pointer fields requiring wrapper initialization, and manually handled special-case fields. It determines struct ordering based on type dependencies to ensure correct compilation order.

Usage

Called during the WASM code generation pipeline to produce the struct wrapper sections of the bindings.cc file, translating MuJoCo C struct definitions into JavaScript-accessible Embind classes.

Code Reference

Source Location

• Repository: Google_deepmind_Mujoco
• File: wasm/codegen/generators/structs.py
• Lines: 1-830

Key Functions

@dataclasses.dataclass
class WrappedFieldData:
    binding: str = ""
    declaration: str = ""
    ptr_initialization: str = ""
    ptr_copy_reset: str = ""
    is_primitive_or_fixed_size: bool = False
    typename: str = ""

def _get_property_binding(field, struct_wrapper_name, setter=False, reference=False) -> str:
def _generate_field_data(field, struct_wrapper_name) -> WrappedFieldData:

Import

from wasm.codegen.generators import structs

I/O Contract

Inputs

Name	Type	Required	Description
field	ast_nodes.StructFieldDecl	Yes	Struct field declaration from introspection AST
struct_wrapper_name	str	Yes	Name of the C++ wrapper class being generated

Outputs

Name	Type	Description
WrappedFieldData	WrappedFieldData	Complete field binding and declaration code
str	str	Generated C++ code for property binding or field definition

Related Pages

• Environment:Google_deepmind_Mujoco_C_Build_Environment