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
This commit is contained in:
Baruch Tabanpour
committed by
Copybara-Service
Copybara-Service
parent
e2b1cfc3a8
commit
2a100547bd
@@ -296,71 +296,70 @@ class BindModel(object):
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specs = [specs]
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specs = [specs]
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ids = []
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ids = []
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for spec in specs:
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for spec in specs:
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match spec:
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if isinstance(spec, mujoco.MjsBody):
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case mujoco.MjsBody():
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self.prefix = 'body_'
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self.prefix = 'body_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)
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elif isinstance(spec, mujoco.MjsJoint):
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case mujoco.MjsJoint():
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self.prefix = 'jnt_'
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self.prefix = 'jnt_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_JOINT, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_JOINT, spec.name)
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elif isinstance(spec, mujoco.MjsGeom):
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case mujoco.MjsGeom():
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self.prefix = 'geom_'
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self.prefix = 'geom_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_GEOM, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_GEOM, spec.name)
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elif isinstance(spec, mujoco.MjsSite):
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case mujoco.MjsSite():
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self.prefix = 'site_'
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self.prefix = 'site_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_SITE, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_SITE, spec.name)
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elif isinstance(spec, mujoco.MjsLight):
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case mujoco.MjsLight():
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self.prefix = 'light_'
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self.prefix = 'light_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_LIGHT, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_LIGHT, spec.name)
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elif isinstance(spec, mujoco.MjsCamera):
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case mujoco.MjsCamera():
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self.prefix = 'cam_'
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self.prefix = 'cam_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, spec.name)
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elif isinstance(spec, mujoco.MjsMesh):
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case mujoco.MjsMesh():
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self.prefix = 'mesh_'
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self.prefix = 'mesh_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_MESH, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_MESH, spec.name)
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elif isinstance(spec, mujoco.MjsHField):
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case mujoco.MjsHField():
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self.prefix = 'hfield_'
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self.prefix = 'hfield_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_HFIELD, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_HFIELD, spec.name)
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elif isinstance(spec, mujoco.MjsPair):
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case mujoco.MjsPair():
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self.prefix = 'pair_'
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self.prefix = 'pair_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_PAIR, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_PAIR, spec.name)
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elif isinstance(spec, mujoco.MjsTendon):
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case mujoco.MjsTendon():
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self.prefix = 'tendon_'
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self.prefix = 'tendon_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_TENDON, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_TENDON, spec.name)
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elif isinstance(spec, mujoco.MjsActuator):
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case mujoco.MjsActuator():
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self.prefix = 'actuator_'
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self.prefix = 'actuator_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, spec.name)
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elif isinstance(spec, mujoco.MjsSensor):
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case mujoco.MjsSensor():
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self.prefix = 'sensor_'
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self.prefix = 'sensor_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, spec.name)
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elif isinstance(spec, mujoco.MjsNumeric):
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case mujoco.MjsNumeric():
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self.prefix = 'numeric_'
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self.prefix = 'numeric_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_NUMERIC, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_NUMERIC, spec.name)
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elif isinstance(spec, mujoco.MjsText):
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case mujoco.MjsText():
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self.prefix = 'text_'
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self.prefix = 'text_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_TEXT, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_TEXT, spec.name)
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elif isinstance(spec, mujoco.MjsTuple):
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case mujoco.MjsTuple():
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self.prefix = 'tuple_'
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self.prefix = 'tuple_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_TUPLE, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_TUPLE, spec.name)
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elif isinstance(spec, mujoco.MjsKey):
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case mujoco.MjsKey():
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self.prefix = 'key_'
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self.prefix = 'key_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_KEY, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_KEY, spec.name)
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elif isinstance(spec, mujoco.MjsEquality):
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case mujoco.MjsEquality():
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self.prefix = 'eq_'
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self.prefix = 'eq_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_EQUALITY, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_EQUALITY, spec.name)
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elif isinstance(spec, mujoco.MjsExclude):
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case mujoco.MjsExclude():
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self.prefix = 'exclude_'
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self.prefix = 'exclude_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_EXCLUDE, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_EXCLUDE, spec.name)
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elif isinstance(spec, mujoco.MjsSkin):
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case mujoco.MjsSkin():
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self.prefix = 'skin_'
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self.prefix = 'skin_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_SKIN, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_SKIN, spec.name)
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elif isinstance(spec, mujoco.MjsMaterial):
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case mujoco.MjsMaterial():
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self.prefix = 'material_'
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self.prefix = 'material_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_MATERIAL, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_MATERIAL, spec.name)
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else:
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case _:
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raise ValueError('invalid spec type')
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raise ValueError('invalid spec type')
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if idx < 0:
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if idx < 0:
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raise KeyError(f'invalid name: {spec.name}')
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raise KeyError(f'invalid name: {spec.name}') # pytype: disable=attribute-error
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ids.append(idx)
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ids.append(idx)
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if len(ids) == 1:
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if len(ids) == 1:
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self.id = ids[0]
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self.id = ids[0]
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@@ -388,41 +387,40 @@ class BindData(object):
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specs = [specs]
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specs = [specs]
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ids = []
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ids = []
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for spec in specs:
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for spec in specs:
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match spec:
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if isinstance(spec, mujoco.MjsBody):
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case mujoco.MjsBody():
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self.prefix = ''
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self.prefix = ''
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idx = name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)
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elif isinstance(spec, mujoco.MjsJoint):
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case mujoco.MjsJoint():
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self.prefix = 'jnt_'
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self.prefix = 'jnt_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_JOINT, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_JOINT, spec.name)
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elif isinstance(spec, mujoco.MjsGeom):
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case mujoco.MjsGeom():
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self.prefix = 'geom_'
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self.prefix = 'geom_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_GEOM, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_GEOM, spec.name)
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elif isinstance(spec, mujoco.MjsSite):
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case mujoco.MjsSite():
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self.prefix = 'site_'
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self.prefix = 'site_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_SITE, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_SITE, spec.name)
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elif isinstance(spec, mujoco.MjsLight):
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case mujoco.MjsLight():
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self.prefix = 'light_'
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self.prefix = 'light_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_LIGHT, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_LIGHT, spec.name)
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elif isinstance(spec, mujoco.MjsCamera):
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case mujoco.MjsCamera():
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self.prefix = 'cam_'
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self.prefix = 'cam_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, spec.name)
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elif isinstance(spec, mujoco.MjsTendon):
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case mujoco.MjsTendon():
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self.prefix = 'ten_'
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self.prefix = 'ten_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_TENDON, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_TENDON, spec.name)
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elif isinstance(spec, mujoco.MjsActuator):
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case mujoco.MjsActuator():
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self.prefix = 'actuator_'
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self.prefix = 'actuator_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, spec.name)
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elif isinstance(spec, mujoco.MjsSensor):
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case mujoco.MjsSensor():
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self.prefix = 'sensor_'
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self.prefix = 'sensor_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, spec.name)
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elif isinstance(spec, mujoco.MjsEquality):
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case mujoco.MjsEquality():
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self.prefix = 'eq_'
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self.prefix = 'eq_'
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idx = name2id(model, mujoco.mjtObj.mjOBJ_EQUALITY, spec.name)
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idx = name2id(model, mujoco.mjtObj.mjOBJ_EQUALITY, spec.name)
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else:
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case _:
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raise ValueError('invalid spec type')
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raise ValueError('invalid spec type')
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if idx < 0:
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if idx < 0:
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raise KeyError(f'invalid name: {spec.name}')
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raise KeyError(f'invalid name: {spec.name}') # pytype: disable=attribute-error
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ids.append(idx)
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ids.append(idx)
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if len(ids) == 1:
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if len(ids) == 1:
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self.id = ids[0]
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self.id = ids[0]
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