mujoco

# Copyright 2025 DeepMind Technologies Limited
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ==============================================================================
"""Generate dicts corresponding to mjModel and mjData array X macros."""

from . import structs

MJMODEL_S = structs.STRUCTS['mjModel']
MJDATA_S = structs.STRUCTS['mjData']

MJMODEL = dict()
MJDATA = dict()

for field in MJMODEL_S.fields:
  if not isinstance(field, structs.StructFieldDecl):
    continue
  if field.array_extent is None:
    continue
  if len(field.array_extent) == 1:
    MJMODEL[field.name] = (field.array_extent[0], '1')
  else:
    MJMODEL[field.name] = (field.array_extent[0], str(field.array_extent[1]))

for field in MJDATA_S.fields:
  if not isinstance(field, structs.StructFieldDecl):
    continue
  if field.array_extent is None:
    continue
  if len(field.array_extent) == 1:
    MJDATA[field.name] = (field.array_extent[0], '1')
  else:
    MJDATA[field.name] = (field.array_extent[0], str(field.array_extent[1]))