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# Copyright 2024 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.
# ==============================================================================
"""Generates the bindings for the MuJoCo specs."""
from collections.abc import Sequence
from absl import app
from introspect import ast_nodes
from introspect import enums
from introspect import structs
SCALAR_TYPES = {'int', 'double', 'float', 'mjtByte', 'mjtBool', 'mjtNum'}
# pylint: disable=bad-whitespace
# key, parent, default, listname, objtype
SPECS = [
('mjsBody', 'Body', True, 'bodies', 'mjOBJ_BODY'),
('mjsSite', 'Body', True, 'sites', 'mjOBJ_SITE'),
('mjsGeom', 'Body', True, 'geoms', 'mjOBJ_GEOM'),
('mjsJoint', 'Body', True, 'joints', 'mjOBJ_JOINT'),
('mjsCamera', 'Body', True, 'cameras', 'mjOBJ_CAMERA'),
('mjsFrame', 'Body', True, 'frames', 'mjOBJ_FRAME'),
('mjsLight', 'Body', True, 'lights', 'mjOBJ_LIGHT'),
('mjsFlex', 'Spec', False, 'flexes', 'mjOBJ_FLEX'),
('mjsMesh', 'Spec', True, 'meshes', 'mjOBJ_MESH'),
('mjsSkin', 'Spec', False, 'skins', 'mjOBJ_SKIN'),
('mjsHField', 'Spec', False, 'hfields', 'mjOBJ_HFIELD'),
('mjsTexture', 'Spec', False, 'textures', 'mjOBJ_TEXTURE'),
('mjsMaterial', 'Spec', True, 'materials', 'mjOBJ_MATERIAL'),
('mjsPair', 'Spec', True, 'pairs', 'mjOBJ_PAIR'),
('mjsEquality', 'Spec', True, 'equalities', 'mjOBJ_EQUALITY'),
('mjsTendon', 'Spec', True, 'tendons', 'mjOBJ_TENDON'),
('mjsActuator', 'Spec', True, 'actuators', 'mjOBJ_ACTUATOR'),
('mjsSensor', 'Spec', False, 'sensors', 'mjOBJ_SENSOR'),
('mjsNumeric', 'Spec', False, 'numerics', 'mjOBJ_NUMERIC'),
('mjsText', 'Spec', False, 'texts', 'mjOBJ_TEXT'),
('mjsTuple', 'Spec', False, 'tuples', 'mjOBJ_TUPLE'),
('mjsKey', 'Spec', False, 'keys', 'mjOBJ_KEY'),
('mjsExclude', 'Spec', False, 'excludes', 'mjOBJ_EXCLUDE'),
('mjsPlugin', 'Spec', False, 'plugins', 'mjOBJ_PLUGIN'),
]
SPECS_ADD = SPECS + [
('mjsBody', 'Frame', True, 'bodies', 'mjOBJ_BODY'),
('mjsSite', 'Frame', True, 'sites', 'mjOBJ_SITE'),
('mjsGeom', 'Frame', True, 'geoms', 'mjOBJ_GEOM'),
('mjsJoint', 'Frame', True, 'joints', 'mjOBJ_JOINT'),
('mjsCamera', 'Frame', True, 'cameras', 'mjOBJ_CAMERA'),
('mjsFrame', 'Frame', True, 'frames', 'mjOBJ_FRAME'),
('mjsLight', 'Frame', True, 'lights', 'mjOBJ_LIGHT'),
]
# pylint: enable=bad-whitespace
def _value_binding_code(
field: ast_nodes.ValueType, classname: str = '', varname: str = ''
) -> str:
"""Creates a string that defines Python bindings for a value type."""
fulltype = field.name
if field.name not in SCALAR_TYPES:
fulltype += '&'
fullvarname = varname
rawclassname = classname.replace('mjs', 'raw::Mjs')
if classname == 'mjSpec': # raw mjSpec has a wrapper
rawclassname = classname.replace('mjS', 'MjS')
fullvarname = 'ptr->' + varname
if field.name.startswith('mjs'): # all other mjs are raw structs
fulltype = field.name.replace('mjs', 'raw::Mjs')
if (
field.name == 'mjsPlugin'
or field.name == 'mjsOrientation'
or field.name == 'mjsCompiler'
or field.name == 'mjsAuthored'
):
# plugin, orientation, compiler, authored aren't pointers
fulltype = fulltype + '&'
else:
fulltype = fulltype + '*'
# non-mjs structs
rawclassname = rawclassname.replace('mjOption', 'raw::MjOption')
rawclassname = rawclassname.replace('mjVisual', 'raw::MjVisual')
rawclassname = rawclassname.replace('mjStatistic', 'raw::MjStatistic')
fulltype = fulltype.replace('mjOption', 'raw::MjOption')
fulltype = fulltype.replace('mjVisual', 'raw::MjVisual')
fulltype = fulltype.replace('mjStatistic', 'raw::MjStatistic')
element = ''
is_enum = field.name in enums.ENUMS
if field.name == 'mjsPlugin':
setter = f"""[]({rawclassname}& self, {fulltype} {varname}) {{
if (self.{fullvarname}.name && {varname}.name) *self.{fullvarname}.name = *{varname}.name;
if (self.{fullvarname}.plugin_name && {varname}.plugin_name) *self.{fullvarname}.plugin_name = *{varname}.plugin_name;
self.{fullvarname}.active = {varname}.active;
if (self.{fullvarname}.info && {varname}.info) *self.{fullvarname}.info = *{varname}.info;
}}"""
elif is_enum:
setter = f"""[]({rawclassname}& self, int {varname}) {{
self.{fullvarname}{element} = static_cast<{field.name}>({varname}){element};
}}"""
else:
setter = f"""[]({rawclassname}& self, {fulltype} {varname}) {{
self.{fullvarname}{element} = {varname}{element};
}}"""
def_property_args = (
f'"{varname}"',
f"""[]({rawclassname}& self) -> {field.name if is_enum else fulltype} {{
return self.{fullvarname};
}}""",
setter,
)
if field.name not in SCALAR_TYPES and not is_enum:
def_property_args += ('py::return_value_policy::reference_internal',)
return f'{classname}.def_property({",".join(def_property_args)});'
def _struct_binding_code(
field: ast_nodes.AnonymousStructDecl, classname: str = '', varname: str = ''
) -> str:
"""Creates a string that declares Python bindings for an anonymous struct."""
code = ''
name = classname + varname.title()
# explicitly generate for nested fields with arrays
if any(
isinstance(f, ast_nodes.StructFieldDecl)
and isinstance(f.type, ast_nodes.ArrayType)
for f in field.fields
):
for subfield in field.fields:
code += _binding_code(subfield, name) # pyrefly: ignore[bad-argument-type]
# generate for the struct itself
field = ast_nodes.ValueType(name=name) # pyrefly: ignore[bad-assignment]
code += _value_binding_code(field, classname, varname) # pyrefly: ignore[bad-argument-type]
return code
def _array_binding_code(
field: ast_nodes.ArrayType, classname: str = '', varname: str = ''
) -> str:
"""Creates a string that declares Python bindings for an array type."""
if len(field.extents) > 1:
raise NotImplementedError()
innertype = field.inner_type.decl()
rawclassname = classname.replace('mjs', 'raw::Mjs')
rawclassname = rawclassname.replace('mjOption', 'raw::MjOption')
rawclassname = rawclassname.replace('mjVisual', 'raw::MjVisual')
rawclassname = rawclassname.replace('mjStatistic', 'raw::MjStatistic')
fullvarname = varname
if classname == 'mjSpec': # raw mjSpec has a wrapper
rawclassname = classname.replace('mjS', 'MjS')
fullvarname = 'ptr->' + varname
if innertype == 'mjtNum':
innertype = 'MjNum' # custom Eigen type for mjtNum fields
elif innertype == 'double':
innertype = 'MjDouble' # custom Eigen type for double fields
elif innertype == 'float':
innertype = 'MjFloat' # custom Eigen type
elif innertype == 'int':
innertype = 'MjInt' # custom Eigen type
elif innertype == 'char':
# char array special case
return f"""\
{classname}.def_property(
"{varname}",
[]({rawclassname}& self) -> MjTypeVec<char> {{
return MjTypeVec<char>(self.{fullvarname}, {field.extents[0]});
}},
[]({rawclassname}& self, py::object rhs) {{
int i = 0;
for (auto val : rhs) {{
self.{fullvarname}[i++] = py::cast<char>(val);
}}
}}, py::return_value_policy::move);"""
# all other array types
return f"""\
{classname}.def_property(
"{varname}",
[]({rawclassname}& self) -> {innertype}{field.extents[0]} {{
return {innertype}{field.extents[0]}(self.{fullvarname});
}},
[]({rawclassname}& self, {innertype}Ref{field.extents[0]} {varname}) {{
{innertype}{field.extents[0]}(self.{fullvarname}) = {varname};
}}, py::return_value_policy::reference_internal);"""
def _ptr_binding_code(
field: ast_nodes.PointerType, classname: str = '', varname: str = ''
) -> str:
"""Creates a string that declares Python bindings for a pointer type."""
vartype = field.inner_type.decl()
rawclassname = classname.replace('mjs', 'raw::Mjs')
fullvarname = varname
if classname == 'mjSpec': # raw mjSpec has a wrapper
rawclassname = classname.replace('mjS', 'MjS')
fullvarname = 'ptr->' + varname
if vartype == 'mjsElement': # this is ignored by the caller
return 'mjsElement'
if vartype.startswith('mjs'): # for structs, use the value case
return _value_binding_code(field.inner_type, classname, varname) # pyrefly: ignore[bad-argument-type]
elif vartype == 'mjString': # C++ string -> Python string
return f"""\
{classname}.def_property(
"{varname}",
[]({rawclassname}& self) -> std::string_view {{
return *self.{fullvarname};
}},
[]({rawclassname}& self, std::string_view {varname}) {{
*(self.{fullvarname}) = {varname};
}});"""
elif ( # C++ vectors of values -> custom array
vartype == 'mjDoubleVec'
or vartype == 'mjFloatVec'
or vartype == 'mjIntVec'
):
vartype = vartype.replace('mj', '').replace('Vec', '').lower()
return f"""\
{classname}.def_property(
"{varname}",
[]({rawclassname}& self) -> MjTypeVec<{vartype}> {{
return MjTypeVec<{vartype}>(self.{fullvarname}->data(),
self.{fullvarname}->size());
}},
[]({rawclassname}& self, py::object rhs) {{
self.{fullvarname}->clear();
self.{fullvarname}->reserve(py::len(rhs));
for (auto val : rhs) {{
self.{fullvarname}->push_back(py::cast<{vartype}>(val));
}}
}}, py::return_value_policy::move);"""
elif vartype == 'mjByteVec':
return f"""\
{classname}.def_property(
"{varname}",
[]({rawclassname}& self) -> py::bytes {{
return py::bytes(reinterpret_cast<const char*>(self.{fullvarname}->data()),
self.{fullvarname}->size());
}},
[]({rawclassname}& self, py::bytes rhs) {{
self.{fullvarname}->clear();
std::string_view rhs_view = py::cast<std::string_view>(rhs);
self.{fullvarname}->reserve(rhs_view.length());
for (char val : rhs_view) {{
self.{fullvarname}->push_back(static_cast<std::byte>(val));
}}
}}, py::return_value_policy::move);"""
elif vartype == 'mjStringVec':
# Special case for material.textures: must be exactly mjNTEXROLE size
if classname == 'mjsMaterial' and varname == 'textures':
return f"""\
{classname}.def_property(
"{varname}",
[]({rawclassname}& self) -> MjTypeVec<std::string> {{
return MjTypeVec<std::string>(self.{fullvarname}->data(),
self.{fullvarname}->size());
}},
[]({rawclassname}& self, py::object rhs) {{
if (py::len(rhs) != mjNTEXROLE) {{
throw pybind11::value_error(
"material.textures must have exactly " + std::to_string(mjNTEXROLE) +
" elements, got " + std::to_string(py::len(rhs)) + ". " +
"Assign a list of " + std::to_string(mjNTEXROLE) + " texture names " +
"(use empty strings '' for unused slots).");
}}
self.{fullvarname}->clear();
self.{fullvarname}->reserve(mjNTEXROLE);
for (auto val : rhs) {{
self.{fullvarname}->push_back(py::cast<std::string>(val));
}}
}}, py::return_value_policy::move);"""
# Default case for other mjStringVec properties
return f"""\
{classname}.def_property(
"{varname}",
[]({rawclassname}& self) -> MjTypeVec<std::string> {{
return MjTypeVec<std::string>(self.{fullvarname}->data(),
self.{fullvarname}->size());
}},
[]({rawclassname}& self, py::object rhs) {{
self.{fullvarname}->clear();
self.{fullvarname}->reserve(py::len(rhs));
for (auto val : rhs) {{
self.{fullvarname}->push_back(py::cast<std::string>(val));
}}
}}, py::return_value_policy::move);"""
elif 'VecVec' in vartype: # C++ vector of vectors -> Python list of lists
vartype = vartype.replace('mj', '').replace('VecVec', '').lower()
return f"""\
{classname}.def_property(
"{varname}",
[]({rawclassname}& self) -> py::list {{
py::list list;
for (auto inner_vec : *self.{fullvarname}) {{
py::list inner_list;
for (auto val : inner_vec) {{
inner_list.append(val);
}}
list.append(inner_list);
}}
return list;
}},
[]({rawclassname}& self, py::object rhs) {{
self.{fullvarname}->clear();
self.{fullvarname}->reserve(py::len(rhs));
for (auto inner_list : rhs) {{
auto inner_vec = py::cast<std::vector<{vartype}>>(inner_list);
self.{fullvarname}->push_back(inner_vec);
}}
}}, py::return_value_policy::reference_internal);"""
raise NotImplementedError(
'Unsupported array type: ' + vartype + ' in ' + classname
)
def _binding_code(field: ast_nodes.StructFieldDecl, key: str) -> str:
if isinstance(field.type, ast_nodes.ValueType):
return _value_binding_code(field.type, key, field.name)
elif isinstance(field.type, ast_nodes.AnonymousStructDecl):
return _struct_binding_code(field.type, key, field.name)
elif isinstance(field.type, ast_nodes.PointerType):
return _ptr_binding_code(field.type, key, field.name)
elif isinstance(field.type, ast_nodes.ArrayType):
return _array_binding_code(field.type, key, field.name)
return ''
def generate() -> None:
for key in structs.STRUCTS.keys():
if (
key.startswith('mjs')
or key in ['mjSpec', 'mjOption', 'mjVisual', 'mjStatistic']
) and key != 'mjsElement':
print('\n // ' + key)
for field in structs.STRUCTS[key].fields:
code = _binding_code(field, key) # pyrefly: ignore[bad-argument-type]
if code != 'mjsElement':
print(code)
def generate_add() -> None:
"""Generate add constructors with optional keyword arguments."""
for key, parent, default, listname, objtype in SPECS_ADD:
def _field(f: ast_nodes.StructFieldDecl):
if f.type == ast_nodes.PointerType(
inner_type=ast_nodes.ValueType(name='mjsElement')
):
return '', '', '', '', '', ''
elif f.type == ast_nodes.ValueType(name='mjsPlugin'):
return (
f'set_plugin(out->{f.name}, plugin);',
'plugin',
f.name,
'MjsPlugin',
'std::optional<raw::MjsPlugin>& plugin',
'py::arg("plugin") = py::none()',
)
elif f.type == ast_nodes.ValueType(name='mjsOrientation'):
return (
(
f'set_orientation(out->{f.name},'
f' {"iaxisangle" if f.name == "ialt" else "axisangle"},'
f' {"ixyaxes" if f.name == "ialt" else "xyaxes"},'
f' {"izaxis" if f.name == "ialt" else "zaxis"},'
f' {"ieuler" if f.name == "ialt" else "euler"},'
f' "{"iaxisangle" if f.name == "ialt" else "axisangle"}",'
f' "{"ixyaxes" if f.name == "ialt" else "xyaxes"}",'
f' "{"izaxis" if f.name == "ialt" else "zaxis"}",'
f' "{"ieuler" if f.name == "ialt" else "euler"}");'
),
'orientation',
['iaxisangle', 'ixyaxes', 'izaxis', 'ieuler']
if f.name == 'ialt'
else ['axisangle', 'xyaxes', 'zaxis', 'euler'],
'list[float]',
[
f'std::optional<std::vector<double>>& {n}'
for n in (
['iaxisangle', 'ixyaxes', 'izaxis', 'ieuler']
if f.name == 'ialt'
else ['axisangle', 'xyaxes', 'zaxis', 'euler']
)
],
[
f'py::arg("{n}") = py::none()'
for n in (
['iaxisangle', 'ixyaxes', 'izaxis', 'ieuler']
if f.name == 'ialt'
else ['axisangle', 'xyaxes', 'zaxis', 'euler']
)
],
)
elif f.type == ast_nodes.PointerType(
inner_type=ast_nodes.ValueType(name='mjString')
):
return (
f'set_string(out->{f.name}, {f.name});',
'string',
f.name,
'str',
f'std::optional<std::string>& {f.name}',
f'py::arg("{f.name}") = py::none()',
)
elif f.type == ast_nodes.PointerType(
inner_type=ast_nodes.ValueType(name='mjStringVec')
):
return (
f'set_str_vec(out->{f.name}, {f.name});',
'str_vec',
f.name,
'list[str]',
f'std::optional<std::vector<std::string>>& {f.name}',
f'py::arg("{f.name}") = py::none()',
)
# Handle other vector types
inner_name = (
f.type.inner_type.name
if isinstance(f.type, ast_nodes.PointerType)
and isinstance(f.type.inner_type, ast_nodes.ValueType)
else ''
)
if inner_name in ('mjIntVec', 'mjByteVec'):
return (
f'set_int_vec(out->{f.name}, {f.name});',
'int_vec',
f.name,
'list[int]',
f'std::optional<std::vector<int>>& {f.name}',
f'py::arg("{f.name}") = py::none()',
)
elif inner_name in ('mjFloatVec', 'mjDoubleVec'):
return (
f'set_vec(out->{f.name}, {f.name});',
'vec',
f.name,
'list[float]',
f'std::optional<std::vector<double>>& {f.name}',
f'py::arg("{f.name}") = py::none()',
)
elif inner_name == 'mjIntVecVec':
return (
f'set_int_vec_vec(out->{f.name}, {f.name});',
'int_vec_vec',
f.name,
'list[list[int]]',
f'std::optional<std::vector<std::vector<int>>>& {f.name}',
f'py::arg("{f.name}") = py::none()',
)
elif inner_name == 'mjFloatVecVec':
return (
f'set_float_vec_vec(out->{f.name}, {f.name});',
'float_vec_vec',
f.name,
'list[list[float]]',
f'std::optional<std::vector<std::vector<double>>>& {f.name}',
f'py::arg("{f.name}") = py::none()',
)
elif isinstance(f.type, ast_nodes.PointerType):
return (
f'set_vec(out->{f.name}, {f.name});',
'vec',
f.name,
'list[float]',
f'std::optional<std::vector<double>>& {f.name}',
f'py::arg("{f.name}") = py::none()',
)
elif isinstance(f.type, ast_nodes.ArrayType):
inner_type = f.type.inner_type.decl()
if inner_type == 'char':
return (
(
f'set_char_array(out->{f.name}, {f.name},'
f' {f.type.extents[0]}, "{f.name}");'
),
'char_array',
f.name,
'str | list[str]',
f'py::object& {f.name}',
f'py::arg("{f.name}") = py::none()',
)
if (
f.name == 'size'
and f.type.extents[0] == 3
or f.name in ('stiffness', 'damping')
):
return (
(
f'set_array_padded(out->{f.name}, {f.name},'
f' {f.type.extents[0]}, "{f.name}");'
),
'array_padded',
f.name,
'Optional[list[float]]',
f'std::optional<py::object>& {f.name}',
f'py::arg("{f.name}") = py::none()',
)
return (
(
f'set_array(out->{f.name}, {f.name}, {f.type.extents[0]},'
f' "{f.name}");'
),
'array',
f.name,
'list[float]',
f'std::optional<std::vector<double>>& {f.name}',
f'py::arg("{f.name}") = py::none()',
)
elif isinstance(f.type, ast_nodes.ValueType):
type_name = 'float'
cpp_type = 'double'
if f.type.name in ('int', 'mjtByte') or f.type.name.startswith('mjt'):
type_name = 'int'
cpp_type = 'int'
return (
f'set_value(out->{f.name}, {f.name});',
'value',
f.name,
type_name,
f'std::optional<{cpp_type}>& {f.name}',
f'py::arg("{f.name}") = py::none()',
)
else:
return '', '', '', '', '', ''
if key == 'mjsPlugin':
code_field = ''
set_types = []
names = []
types = []
cpp_args = []
py_args = []
else:
code_field = 'set_name(out->element, name);'
set_types = ['name']
names = ['name']
types = ['str']
cpp_args = ['std::optional<std::string>& name']
py_args = ['py::arg("name") = py::none()']
for field in structs.STRUCTS[key].fields:
line, set_type, name, type_name, cpp_arg, py_arg = _field(field) # pyrefly: ignore[bad-argument-type]
if line:
code_field = code_field + '\n ' + line
set_types.append(set_type)
if set_type == 'orientation':
names.extend(name)
types.extend([type_name] * len(name))
cpp_args.extend(cpp_arg)
py_args.extend(py_arg)
else:
names.append(name)
types.append(type_name)
cpp_args.append(cpp_arg)
py_args.append(py_arg)
# assemble
elem = key.removeprefix('mjs')
elemlower = elem.lower()
titlecase = 'Mjs' + elem
docstring = f'Add {elemlower} to spec.\n\n Args:\n'
for i, name in enumerate(names):
if i > 0:
docstring += '\n'
docstring += f' {name}: {types[i]}'
# functions arguments
args = ', '.join(cpp_args)
if args:
args = ', ' + args
# py::arg definitions
pyargs = ', '.join(py_args)
# function definition and call to mjs_add_
if parent == 'Spec':
if default:
code = f"""
{'mj' + parent}.def("add_{elemlower}", []({'Mj' + parent}& self,
raw::MjsDefault* default_{args}) -> raw::{titlecase}* {{
auto out = mjs_add{elem}(self.ptr, default_);
"""
else:
code = f"""
{'mj' + parent}.def("add_{elemlower}", []({'Mj' + parent}& self{args}) -> raw::{titlecase}* {{
auto out = mjs_add{elem}(self.ptr);
"""
elif parent == 'Body':
if key == 'mjsFrame':
code = f"""
{'mjs' + parent}.def("add_{elemlower}", []({'raw::Mjs' + parent}& self,
raw::MjsFrame* parentframe_{args}) -> raw::{titlecase}* {{
auto out = mjs_add{elem}(&self, parentframe_);
"""
else:
code = f"""
{'mjs' + parent}.def("add_{elemlower}", []({'raw::Mjs' + parent}& self,
raw::MjsDefault* default_{args}) -> raw::{titlecase}* {{
auto out = mjs_add{elem}(&self, default_);
"""
elif parent == 'Frame':
if key == 'mjsFrame':
code = f"""
{'mjs' + parent}.def("add_{elemlower}", []({'raw::Mjs' + parent}& self,
raw::MjsFrame* parentframe_{args}) -> raw::{titlecase}* {{
raw::MjsBody* body = mjs_getParent(self.element);
auto out = mjs_add{elem}(body, &self);
"""
else:
code = f"""
{'mjs' + parent}.def("add_{elemlower}", []({'raw::Mjs' + parent}& self,
raw::MjsDefault* default_{args}) -> raw::{titlecase}* {{
raw::MjsBody* body = mjs_getParent(self.element);
auto out = mjs_add{elem}(body, default_);
mjs_setFrame(out->element, &self);
"""
else:
raise NotImplementedError(f'{parent} parent is not implement.')
# include helper functions
if set_types:
for t in set(set_types):
if t == 'orientation':
code += """\n
auto set_orientation = [](raw::MjsOrientation& orientation,
const std::optional<std::vector<double>>& axisangle,
const std::optional<std::vector<double>>& xyaxes,
const std::optional<std::vector<double>>& zaxis,
const std::optional<std::vector<double>>& euler,
const char* name_axisangle,
const char* name_xyaxes,
const char* name_zaxis,
const char* name_euler) {
int nrepresentation = 0;
nrepresentation += axisangle.has_value();
nrepresentation += xyaxes.has_value();
nrepresentation += zaxis.has_value();
nrepresentation += euler.has_value();
if (nrepresentation == 0) {
return;
} else if (nrepresentation > 1) {
std::string msg = std::string("Only one of: ") + name_axisangle + ", " + name_xyaxes + ", " + name_zaxis + ", or " + name_euler + " can be set.";
throw pybind11::value_error(msg);
}
auto set_array = [](const std::vector<double>& array, double* des, int size, const char* name) {
if (array.size() != size) {
std::string msg = std::string(name) + " should be a list/array of size " + std::to_string(size) + ".";
throw pybind11::value_error(msg);
}
int idx = 0;
for (auto val : array) {
des[idx++] = val;
}
};
if (axisangle.has_value()) {
set_array(axisangle.value(), orientation.axisangle, 4, name_axisangle);
orientation.type = mjORIENTATION_AXISANGLE;
} else if (xyaxes.has_value()) {
set_array(xyaxes.value(), orientation.xyaxes, 6, name_xyaxes);
orientation.type = mjORIENTATION_XYAXES;
} else if (zaxis.has_value()) {
set_array(zaxis.value(), orientation.zaxis, 3, name_zaxis);
orientation.type = mjORIENTATION_ZAXIS;
} else if (euler.has_value()) {
set_array(euler.value(), orientation.euler, 3, name_euler);
orientation.type = mjORIENTATION_EULER;
}
};
"""
elif t == 'plugin':
code += """\n
auto set_plugin = [](raw::MjsPlugin& plugin, const std::optional<raw::MjsPlugin>& input) {
if (input.has_value()) {
plugin.name = input->name;
plugin.plugin_name = input->plugin_name;
plugin.active = input->active;
plugin.info = input->info;
}
};
"""
elif t == 'string':
code += """\n
auto set_string = [](std::basic_string<char>* des, const std::optional<std::string>& str) {
if (str.has_value()) {
*des = str.value();
}
};
"""
elif t == 'str_vec':
code += """\n
auto set_str_vec = [](auto&& des, const std::optional<std::vector<std::string>>& vec) {
if (vec.has_value()) {
des->clear();
des->reserve(vec->size());
for (const auto& val : vec.value()) {
des->push_back(val);
}
}
};
"""
elif t == 'int_vec':
code += """\n
auto set_int_vec = [](auto&& des, const std::optional<std::vector<int>>& vec) {
if (vec.has_value()) {
using T = typename std::decay_t<decltype(*des)>::value_type;
des->clear();
des->reserve(vec->size());
for (auto val : vec.value()) {
des->push_back(static_cast<T>(val));
}
}
};
"""
elif t == 'int_vec_vec':
code += """\n
auto set_int_vec_vec = [](auto&& des, const std::optional<std::vector<std::vector<int>>>& vec) {
if (vec.has_value()) {
des->clear();
des->reserve(vec->size());
for (const auto& inner : vec.value()) {
using InnerT = typename std::decay_t<decltype(*des)>::value_type;
InnerT inner_res;
inner_res.reserve(inner.size());
using ValT = typename InnerT::value_type;
for (auto val : inner) {
inner_res.push_back(static_cast<ValT>(val));
}
des->push_back(inner_res);
}
}
};
"""
elif t == 'float_vec_vec':
code += """\n
auto set_float_vec_vec = [](auto&& des, const std::optional<std::vector<std::vector<double>>>& vec) {
if (vec.has_value()) {
des->clear();
des->reserve(vec->size());
for (const auto& inner : vec.value()) {
using InnerT = typename std::decay_t<decltype(*des)>::value_type;
InnerT inner_res;
inner_res.reserve(inner.size());
using ValT = typename InnerT::value_type;
for (auto val : inner) {
inner_res.push_back(static_cast<ValT>(val));
}
des->push_back(inner_res);
}
}
};
"""
elif t == 'vec':
code += """\n
auto set_vec = [](auto&& des, const std::optional<std::vector<double>>& vec) {
if (vec.has_value()) {
using T = typename std::decay_t<decltype(*des)>::value_type;
des->clear();
des->reserve(vec->size());
for (auto val : vec.value()) {
des->push_back(static_cast<T>(val));
}
}
};
"""
elif t == 'array':
code += """\n
auto set_array = [](auto&& des, const std::optional<std::vector<double>>& array, int size, const char* name) {
if (array.has_value()) {
if (array->size() != size) {
std::string msg = std::string(name) + " should be a list/array of size " + std::to_string(size) + ".";
throw pybind11::value_error(msg);
}
int idx = 0;
for (auto val : array.value()) {
des[idx++] = val;
}
}
};
"""
elif t == 'array_padded':
code += """\n
auto set_array_padded = [](auto&& des, const std::optional<py::object>& obj, int size, const char* name) {
if (obj.has_value() && !obj->is_none()) {
std::vector<double> array;
if (py::isinstance<py::int_>(*obj) || py::isinstance<py::float_>(*obj)) {
array.push_back(py::cast<double>(*obj));
} else if (py::isinstance<py::str>(*obj)) {
throw pybind11::type_error(
std::string(name) + " should be a numeric scalar or list.");
} else {
try {
array = py::cast<std::vector<double>>(*obj);
} catch (const py::cast_error&) {
throw pybind11::type_error(
std::string(name) + " should be a numeric scalar or list.");
}
}
if (array.empty() || array.size() > static_cast<size_t>(size)) {
std::string msg = std::string(name) + " should be a list/array of size 1 to " + std::to_string(size) + ".";
throw pybind11::value_error(msg);
}
for (int i = 0; i < size; i++) {
des[i] = (i < static_cast<int>(array.size())) ? array[i] : 0;
}
}
};
"""
elif t == 'char_array':
code += """\n
auto set_char_array = [](auto&& des, py::object& obj, int size, const char* name) {
if (obj.is_none()) {
return;
}
std::string chars;
if (py::isinstance<py::str>(obj)) {
chars = py::cast<std::string>(obj);
} else if (py::isinstance<py::list>(obj)) {
py::list list = py::cast<py::list>(obj);
chars.reserve(py::len(list));
for (auto item : list) {
std::string s = py::cast<std::string>(item);
if (s.size() != 1) {
throw pybind11::value_error(std::string(name) + " list elements must be single characters.");
}
chars.push_back(s[0]);
}
} else {
throw pybind11::type_error(std::string(name) + " must be a string or a list of single-character strings.");
}
if (chars.size() != size) {
std::string msg = std::string(name) + " should have length " + std::to_string(size) + ", got " + std::to_string(chars.size()) + ".";
throw pybind11::value_error(msg);
}
int idx = 0;
for (char val : chars) {
des[idx++] = val;
}
};
"""
elif t == 'value':
code += """\n
auto set_value = [](auto&& des, auto&& val) {
if (val.has_value()) {
using T = std::decay_t<decltype(des)>;
des = static_cast<T>(val.value());
}
};
"""
elif t == 'name':
code += """\n
auto set_name = [](raw::MjsElement* el, const std::optional<std::string>& name) {
if (name.has_value()) {
if (mjs_setName(el, name->c_str())) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(el)));
}
}
};
"""
else:
raise NotImplementedError(f'Unsupported set type: {t} in {key}')
code += code_field
code += f"""\n
return out;
}},
{'py::arg_v("default", nullptr)' + (', ' if pyargs else '') if default else ''}
{pyargs}{', ' if pyargs else ''}
R"mydelimiter(
{docstring}
)mydelimiter",
py::return_value_policy::reference_internal);
"""
code += f"""\n
mjSpec.def_property_readonly(
"{listname}",
[](MjSpec& self) -> py::list {{
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, {objtype});
while (el) {{
list.append(mjs_as{key[3:]}(el));
el = mjs_nextElement(self.ptr, el);
}}
return list;
}},
py::return_value_policy::reference_internal);
"""
print(code)
def generate_find() -> None:
"""Generate find functions."""
for key, _, _, _, objtype in SPECS:
elem = key.removeprefix('mjs')
elemlower = elem.lower()
titlecase = 'Mjs' + elem
code = f"""\n
mjSpec.def("{elemlower}",
[](MjSpec& self, std::string& name) -> raw::{titlecase}* {{
return mjs_as{elem}(
mjs_findElement(self.ptr, {objtype}, name.c_str()));
}}, py::return_value_policy::reference_internal);
"""
print(code)
def generate_signature() -> None:
"""Generate signature functions."""
for key, _, _, _, _ in SPECS:
elem = key.removeprefix('mjs')
titlecase = 'Mjs' + elem
code = f"""\n
{key}.def_property_readonly("signature",
[](raw::{titlecase}& self) -> uint64_t {{
return mjs_getSpec(self.element)->element->signature;
}});
"""
print(code)
def generate_id() -> None:
"""Generate id functions."""
for key, _, _, _, _ in SPECS:
if key == 'mjsPlugin':
continue
elem = key.removeprefix('mjs')
titlecase = 'Mjs' + elem
code = f"""\n
{key}.def_property_readonly("id",
[](raw::{titlecase}& self) -> int {{
return mjs_getId(self.element);
}});
"""
print(code)
def generate_name() -> None:
"""Generate name functions."""
for key, _, _, _, _ in SPECS + [('mjsDefault', '', '', '', '')]:
if key == 'mjsPlugin':
continue
elem = key.removeprefix('mjs')
titlecase = 'Mjs' + elem
code = f"""\n
{key}.def_property("name",
[](raw::{titlecase}& self) -> std::string* {{
return mjs_getName(self.element);
}},
[](raw::{titlecase}& self, std::string& name) -> void {{
if (mjs_setName(self.element, name.c_str())) {{
throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
}}
}}, py::return_value_policy::reference_internal);
"""
print(code)
def generate_compiler() -> None:
"""Generate compiler property for all spec element types."""
for key, _, _, _, _ in SPECS:
elem = key.removeprefix('mjs')
titlecase = 'Mjs' + elem
code = f"""\n
{key}.def_property_readonly("compiler",
[](raw::{titlecase}& self) -> raw::MjsCompiler& {{
::mjsCompiler* compiler = mjs_getCompiler(self.element);
if (!compiler) {{
throw pybind11::value_error("Element is not attached to a spec.");
}}
return *compiler;
}}, py::return_value_policy::reference_internal);
"""
print(code)
def main(argv: Sequence[str]) -> None:
if len(argv) > 1:
raise app.UsageError('Too many command-line arguments.')
generate()
generate_add()
generate_find()
generate_signature()
generate_id()
generate_name()
generate_compiler()
if __name__ == '__main__':
app.run(main)
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