Remove match in support.py (introduced in Python 3.10).

https://github.com/google-deepmind/mujoco_playground/issues/16

PiperOrigin-RevId: 717395934
Change-Id: I0be1b8285a79702a1dfc086e15e07bab0f9f6d40

mjx/mujoco/mjx/_src/support.py

@@ -296,71 +296,70 @@ class BindModel(object):
       specs = [specs]
     ids = []
     for spec in specs:
-      match spec:
+      if isinstance(spec, mujoco.MjsBody):
-        case mujoco.MjsBody():
         self.prefix = 'body_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)
-        case mujoco.MjsJoint():
+      elif isinstance(spec, mujoco.MjsJoint):
         self.prefix = 'jnt_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_JOINT, spec.name)
-        case mujoco.MjsGeom():
+      elif isinstance(spec, mujoco.MjsGeom):
         self.prefix = 'geom_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_GEOM, spec.name)
-        case mujoco.MjsSite():
+      elif isinstance(spec, mujoco.MjsSite):
         self.prefix = 'site_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_SITE, spec.name)
-        case mujoco.MjsLight():
+      elif isinstance(spec, mujoco.MjsLight):
         self.prefix = 'light_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_LIGHT, spec.name)
-        case mujoco.MjsCamera():
+      elif isinstance(spec, mujoco.MjsCamera):
         self.prefix = 'cam_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, spec.name)
-        case mujoco.MjsMesh():
+      elif isinstance(spec, mujoco.MjsMesh):
         self.prefix = 'mesh_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_MESH, spec.name)
-        case mujoco.MjsHField():
+      elif isinstance(spec, mujoco.MjsHField):
         self.prefix = 'hfield_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_HFIELD, spec.name)
-        case mujoco.MjsPair():
+      elif isinstance(spec, mujoco.MjsPair):
         self.prefix = 'pair_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_PAIR, spec.name)
-        case mujoco.MjsTendon():
+      elif isinstance(spec, mujoco.MjsTendon):
         self.prefix = 'tendon_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_TENDON, spec.name)
-        case mujoco.MjsActuator():
+      elif isinstance(spec, mujoco.MjsActuator):
         self.prefix = 'actuator_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, spec.name)
-        case mujoco.MjsSensor():
+      elif isinstance(spec, mujoco.MjsSensor):
         self.prefix = 'sensor_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, spec.name)
-        case mujoco.MjsNumeric():
+      elif isinstance(spec, mujoco.MjsNumeric):
         self.prefix = 'numeric_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_NUMERIC, spec.name)
-        case mujoco.MjsText():
+      elif isinstance(spec, mujoco.MjsText):
         self.prefix = 'text_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_TEXT, spec.name)
-        case mujoco.MjsTuple():
+      elif isinstance(spec, mujoco.MjsTuple):
         self.prefix = 'tuple_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_TUPLE, spec.name)
-        case mujoco.MjsKey():
+      elif isinstance(spec, mujoco.MjsKey):
         self.prefix = 'key_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_KEY, spec.name)
-        case mujoco.MjsEquality():
+      elif isinstance(spec, mujoco.MjsEquality):
         self.prefix = 'eq_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_EQUALITY, spec.name)
-        case mujoco.MjsExclude():
+      elif isinstance(spec, mujoco.MjsExclude):
         self.prefix = 'exclude_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_EXCLUDE, spec.name)
-        case mujoco.MjsSkin():
+      elif isinstance(spec, mujoco.MjsSkin):
         self.prefix = 'skin_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_SKIN, spec.name)
-        case mujoco.MjsMaterial():
+      elif isinstance(spec, mujoco.MjsMaterial):
         self.prefix = 'material_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_MATERIAL, spec.name)
-        case _:
+      else:
         raise ValueError('invalid spec type')
       if idx < 0:
-        raise KeyError(f'invalid name: {spec.name}')
+        raise KeyError(f'invalid name: {spec.name}')  # pytype: disable=attribute-error
       ids.append(idx)
     if len(ids) == 1:
       self.id = ids[0]
@@ -388,41 +387,40 @@ class BindData(object):
       specs = [specs]
     ids = []
     for spec in specs:
-      match spec:
+      if isinstance(spec, mujoco.MjsBody):
-        case mujoco.MjsBody():
         self.prefix = ''
         idx = name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)
-        case mujoco.MjsJoint():
+      elif isinstance(spec, mujoco.MjsJoint):
         self.prefix = 'jnt_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_JOINT, spec.name)
-        case mujoco.MjsGeom():
+      elif isinstance(spec, mujoco.MjsGeom):
         self.prefix = 'geom_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_GEOM, spec.name)
-        case mujoco.MjsSite():
+      elif isinstance(spec, mujoco.MjsSite):
         self.prefix = 'site_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_SITE, spec.name)
-        case mujoco.MjsLight():
+      elif isinstance(spec, mujoco.MjsLight):
         self.prefix = 'light_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_LIGHT, spec.name)
-        case mujoco.MjsCamera():
+      elif isinstance(spec, mujoco.MjsCamera):
         self.prefix = 'cam_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, spec.name)
-        case mujoco.MjsTendon():
+      elif isinstance(spec, mujoco.MjsTendon):
         self.prefix = 'ten_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_TENDON, spec.name)
-        case mujoco.MjsActuator():
+      elif isinstance(spec, mujoco.MjsActuator):
         self.prefix = 'actuator_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, spec.name)
-        case mujoco.MjsSensor():
+      elif isinstance(spec, mujoco.MjsSensor):
         self.prefix = 'sensor_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, spec.name)
-        case mujoco.MjsEquality():
+      elif isinstance(spec, mujoco.MjsEquality):
         self.prefix = 'eq_'
         idx = name2id(model, mujoco.mjtObj.mjOBJ_EQUALITY, spec.name)
-        case _:
+      else:
         raise ValueError('invalid spec type')
       if idx < 0:
-        raise KeyError(f'invalid name: {spec.name}')
+        raise KeyError(f'invalid name: {spec.name}')  # pytype: disable=attribute-error
       ids.append(idx)
     if len(ids) == 1:
       self.id = ids[0]