Migrate mjModel size fields from int to mjtSize.
This change updates all size-related members within the `mjModel` struct from `int` to `mjtSize`. This allows MuJoCo to handle models with a larger number of elements. Corresponding changes were made to macros, function signatures, and I/O routines to accommodate the new `mjtSize` type. PiperOrigin-RevId: 860144595 Change-Id: I701c6d607715d240766b6210a9773cd9e4258c59
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
4a64017a5f
commit
30b903b6c0
@@ -261,7 +261,7 @@ MJDATA_VIEW_GROUPS
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if constexpr (std::string_view(#dim) == std::string_view("1")) { \
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return {}; \
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} else { \
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return {n}; \
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return {(int)n}; \
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} \
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}() \
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MUJOCO_DIAG_UNIGNORE_UNUSED_LAMBDA_CAPTURE
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@@ -849,432 +849,432 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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fields=(
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StructFieldDecl(
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name='nq',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of generalized coordinates = dim(qpos)',
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),
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StructFieldDecl(
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name='nv',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of degrees of freedom = dim(qvel)',
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),
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StructFieldDecl(
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name='nu',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of actuators/controls = dim(ctrl)',
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),
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StructFieldDecl(
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name='na',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of activation states = dim(act)',
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),
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StructFieldDecl(
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name='nbody',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of bodies',
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),
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StructFieldDecl(
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name='nbvh',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of total bounding volumes in all bodies',
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),
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StructFieldDecl(
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name='nbvhstatic',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of static bounding volumes (aabb stored in mjModel)', # pylint: disable=line-too-long
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),
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StructFieldDecl(
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name='nbvhdynamic',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of dynamic bounding volumes (aabb stored in mjData)', # pylint: disable=line-too-long
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),
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StructFieldDecl(
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name='noct',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of total octree cells in all meshes',
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),
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StructFieldDecl(
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name='njnt',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of joints',
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),
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StructFieldDecl(
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name='ntree',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of kinematic trees under world body',
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),
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StructFieldDecl(
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name='nM',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of non-zeros in sparse inertia matrix',
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),
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StructFieldDecl(
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name='nB',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of non-zeros in sparse body-dof matrix',
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),
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StructFieldDecl(
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name='nC',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of non-zeros in sparse reduced dof-dof matrix',
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),
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StructFieldDecl(
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name='nD',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of non-zeros in sparse dof-dof matrix',
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),
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StructFieldDecl(
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name='ngeom',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of geoms',
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),
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StructFieldDecl(
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name='nsite',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of sites',
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),
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StructFieldDecl(
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name='ncam',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of cameras',
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),
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StructFieldDecl(
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name='nlight',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of lights',
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),
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StructFieldDecl(
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name='nflex',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of flexes',
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),
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StructFieldDecl(
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name='nflexnode',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of dofs in all flexes',
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),
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StructFieldDecl(
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name='nflexvert',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of vertices in all flexes',
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),
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StructFieldDecl(
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name='nflexedge',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of edges in all flexes',
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),
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StructFieldDecl(
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name='nflexelem',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of elements in all flexes',
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),
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StructFieldDecl(
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name='nflexelemdata',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of element vertex ids in all flexes',
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),
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StructFieldDecl(
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name='nflexelemedge',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of element edge ids in all flexes',
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),
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StructFieldDecl(
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name='nflexshelldata',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of shell fragment vertex ids in all flexes',
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),
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StructFieldDecl(
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name='nflexevpair',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of element-vertex pairs in all flexes',
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),
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StructFieldDecl(
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name='nflextexcoord',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of vertices with texture coordinates',
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),
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StructFieldDecl(
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name='nJfe',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of non-zeros in sparse flexedge Jacobian matrix',
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),
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StructFieldDecl(
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name='nJfv',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of non-zeros in sparse flexvert Jacobian matrix',
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),
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StructFieldDecl(
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name='nmesh',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of meshes',
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),
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StructFieldDecl(
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name='nmeshvert',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of vertices in all meshes',
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),
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StructFieldDecl(
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name='nmeshnormal',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of normals in all meshes',
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),
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StructFieldDecl(
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name='nmeshtexcoord',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of texcoords in all meshes',
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),
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StructFieldDecl(
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name='nmeshface',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of triangular faces in all meshes',
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),
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StructFieldDecl(
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name='nmeshgraph',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of ints in mesh auxiliary data',
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),
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StructFieldDecl(
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name='nmeshpoly',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of polygons in all meshes',
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),
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StructFieldDecl(
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name='nmeshpolyvert',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of vertices in all polygons',
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),
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StructFieldDecl(
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name='nmeshpolymap',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of polygons in vertex map',
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),
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StructFieldDecl(
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name='nskin',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of skins',
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),
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StructFieldDecl(
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name='nskinvert',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of vertices in all skins',
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),
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StructFieldDecl(
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name='nskintexvert',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of vertices with texcoords in all skins',
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),
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StructFieldDecl(
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name='nskinface',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of triangular faces in all skins',
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),
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StructFieldDecl(
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name='nskinbone',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of bones in all skins',
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),
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StructFieldDecl(
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name='nskinbonevert',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of vertices in all skin bones',
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),
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StructFieldDecl(
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name='nhfield',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of heightfields',
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),
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StructFieldDecl(
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name='nhfielddata',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of data points in all heightfields',
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),
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StructFieldDecl(
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name='ntex',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of textures',
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),
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StructFieldDecl(
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name='ntexdata',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of bytes in texture rgb data',
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),
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StructFieldDecl(
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name='nmat',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of materials',
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),
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StructFieldDecl(
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name='npair',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of predefined geom pairs',
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),
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StructFieldDecl(
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name='nexclude',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of excluded geom pairs',
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),
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StructFieldDecl(
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name='neq',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of equality constraints',
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),
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StructFieldDecl(
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name='ntendon',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of tendons',
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),
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StructFieldDecl(
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name='nwrap',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of wrap objects in all tendon paths',
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),
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StructFieldDecl(
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name='nsensor',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of sensors',
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),
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StructFieldDecl(
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name='nnumeric',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of numeric custom fields',
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),
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StructFieldDecl(
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name='nnumericdata',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of mjtNums in all numeric fields',
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),
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StructFieldDecl(
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name='ntext',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of text custom fields',
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),
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StructFieldDecl(
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name='ntextdata',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of mjtBytes in all text fields',
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),
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StructFieldDecl(
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name='ntuple',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of tuple custom fields',
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),
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StructFieldDecl(
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name='ntupledata',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of objects in all tuple fields',
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),
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StructFieldDecl(
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name='nkey',
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type=ValueType(name='int'),
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type=ValueType(name='mjtSize'),
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doc='number of keyframes',
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),
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StructFieldDecl(
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name='nmocap',
|
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type=ValueType(name='int'),
|
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type=ValueType(name='mjtSize'),
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doc='number of mocap bodies',
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),
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StructFieldDecl(
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name='nplugin',
|
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type=ValueType(name='int'),
|
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type=ValueType(name='mjtSize'),
|
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doc='number of plugin instances',
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),
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StructFieldDecl(
|
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name='npluginattr',
|
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type=ValueType(name='int'),
|
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type=ValueType(name='mjtSize'),
|
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doc='number of chars in all plugin config attributes',
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),
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StructFieldDecl(
|
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name='nuser_body',
|
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type=ValueType(name='int'),
|
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type=ValueType(name='mjtSize'),
|
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doc='number of mjtNums in body_user',
|
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),
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StructFieldDecl(
|
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name='nuser_jnt',
|
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type=ValueType(name='int'),
|
||||
type=ValueType(name='mjtSize'),
|
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doc='number of mjtNums in jnt_user',
|
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),
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StructFieldDecl(
|
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name='nuser_geom',
|
||||
type=ValueType(name='int'),
|
||||
type=ValueType(name='mjtSize'),
|
||||
doc='number of mjtNums in geom_user',
|
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),
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StructFieldDecl(
|
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name='nuser_site',
|
||||
type=ValueType(name='int'),
|
||||
type=ValueType(name='mjtSize'),
|
||||
doc='number of mjtNums in site_user',
|
||||
),
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StructFieldDecl(
|
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name='nuser_cam',
|
||||
type=ValueType(name='int'),
|
||||
type=ValueType(name='mjtSize'),
|
||||
doc='number of mjtNums in cam_user',
|
||||
),
|
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StructFieldDecl(
|
||||
name='nuser_tendon',
|
||||
type=ValueType(name='int'),
|
||||
type=ValueType(name='mjtSize'),
|
||||
doc='number of mjtNums in tendon_user',
|
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),
|
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StructFieldDecl(
|
||||
name='nuser_actuator',
|
||||
type=ValueType(name='int'),
|
||||
type=ValueType(name='mjtSize'),
|
||||
doc='number of mjtNums in actuator_user',
|
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),
|
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StructFieldDecl(
|
||||
name='nuser_sensor',
|
||||
type=ValueType(name='int'),
|
||||
type=ValueType(name='mjtSize'),
|
||||
doc='number of mjtNums in sensor_user',
|
||||
),
|
||||
StructFieldDecl(
|
||||
name='nnames',
|
||||
type=ValueType(name='int'),
|
||||
type=ValueType(name='mjtSize'),
|
||||
doc='number of chars in all names',
|
||||
),
|
||||
StructFieldDecl(
|
||||
name='npaths',
|
||||
type=ValueType(name='int'),
|
||||
type=ValueType(name='mjtSize'),
|
||||
doc='number of chars in all paths',
|
||||
),
|
||||
StructFieldDecl(
|
||||
name='nnames_map',
|
||||
type=ValueType(name='int'),
|
||||
type=ValueType(name='mjtSize'),
|
||||
doc='number of slots in the names hash map',
|
||||
),
|
||||
StructFieldDecl(
|
||||
name='nJmom',
|
||||
type=ValueType(name='int'),
|
||||
type=ValueType(name='mjtSize'),
|
||||
doc='number of non-zeros in sparse actuator_moment matrix',
|
||||
),
|
||||
StructFieldDecl(
|
||||
name='ngravcomp',
|
||||
type=ValueType(name='int'),
|
||||
type=ValueType(name='mjtSize'),
|
||||
doc='number of bodies with nonzero gravcomp',
|
||||
),
|
||||
StructFieldDecl(
|
||||
name='nemax',
|
||||
type=ValueType(name='int'),
|
||||
type=ValueType(name='mjtSize'),
|
||||
doc='number of potential equality-constraint rows',
|
||||
),
|
||||
StructFieldDecl(
|
||||
name='njmax',
|
||||
type=ValueType(name='int'),
|
||||
type=ValueType(name='mjtSize'),
|
||||
doc='number of available rows in constraint Jacobian (legacy)',
|
||||
),
|
||||
StructFieldDecl(
|
||||
name='nconmax',
|
||||
type=ValueType(name='int'),
|
||||
type=ValueType(name='mjtSize'),
|
||||
doc='number of potential contacts in contact list (legacy)',
|
||||
),
|
||||
StructFieldDecl(
|
||||
name='nuserdata',
|
||||
type=ValueType(name='int'),
|
||||
type=ValueType(name='mjtSize'),
|
||||
doc='number of mjtNums reserved for the user',
|
||||
),
|
||||
StructFieldDecl(
|
||||
name='nsensordata',
|
||||
type=ValueType(name='int'),
|
||||
type=ValueType(name='mjtSize'),
|
||||
doc='number of mjtNums in sensor data vector',
|
||||
),
|
||||
StructFieldDecl(
|
||||
name='npluginstate',
|
||||
type=ValueType(name='int'),
|
||||
type=ValueType(name='mjtSize'),
|
||||
doc='number of mjtNums in plugin state vector',
|
||||
),
|
||||
StructFieldDecl(
|
||||
|
||||
@@ -56,9 +56,13 @@ namespace {
|
||||
// (dim0, dim1).
|
||||
#define X_ARRAY_SHAPE(dim0, dim1) XArrayShapeImpl(#dim1)((dim0), (dim1))
|
||||
|
||||
std::vector<int> XArrayShapeImpl1D(int dim0, int dim1) { return {dim0}; }
|
||||
std::vector<mjtSize> XArrayShapeImpl1D(mjtSize dim0, mjtSize dim1) {
|
||||
return {dim0};
|
||||
}
|
||||
|
||||
std::vector<int> XArrayShapeImpl2D(int dim0, int dim1) { return {dim0, dim1}; }
|
||||
std::vector<mjtSize> XArrayShapeImpl2D(mjtSize dim0, mjtSize dim1) {
|
||||
return {dim0, dim1};
|
||||
}
|
||||
|
||||
constexpr auto XArrayShapeImpl(const std::string_view dim1_str) {
|
||||
if (dim1_str == "1") {
|
||||
@@ -401,20 +405,20 @@ This is useful for example when the MJB is not available as a file on disk.)"));
|
||||
#define X(var) \
|
||||
mjModel.def_property_readonly( \
|
||||
#var, [](const MjModelWrapper& m) { return m.get()->var; });
|
||||
MJMODEL_INTS
|
||||
MJMODEL_SIZES
|
||||
#undef X
|
||||
|
||||
mjModel.def_property_readonly("_sizes", [](const MjModelWrapper& m) {
|
||||
int nint = 0;
|
||||
#define X(var) ++nint;
|
||||
MJMODEL_INTS
|
||||
MJMODEL_SIZES
|
||||
#undef X
|
||||
py::array_t<std::int64_t> sizes(nint);
|
||||
{
|
||||
int i = 0;
|
||||
auto data = sizes.mutable_unchecked();
|
||||
#define X(var) data[i++] = m.get()->var;
|
||||
MJMODEL_INTS
|
||||
MJMODEL_SIZES
|
||||
#undef X
|
||||
}
|
||||
py::detail::array_proxy(sizes.ptr())->flags &=
|
||||
@@ -425,7 +429,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
|
||||
mjModel.def_property_readonly_static("_size_fields", [](py::object) {
|
||||
std::vector<std::string> fields;
|
||||
#define X(var) fields.push_back(#var);
|
||||
MJMODEL_INTS
|
||||
MJMODEL_SIZES
|
||||
#undef X
|
||||
return py::tuple(py::cast(fields));
|
||||
});
|
||||
@@ -433,7 +437,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
|
||||
mjModel.def_property_readonly_static("_all_fields", [](py::object) {
|
||||
std::vector<std::string> fields;
|
||||
#define X(var) fields.push_back(#var);
|
||||
MJMODEL_INTS
|
||||
MJMODEL_SIZES
|
||||
#undef X
|
||||
#define X(type, name, nr, nc) fields.push_back(#name);
|
||||
MJMODEL_POINTERS
|
||||
|
||||
@@ -1006,7 +1006,7 @@ using _impl::MjSolverStatList;
|
||||
template <typename T, typename Shape>
|
||||
std::enable_if_t<std::is_arithmetic_v<T>, pybind11::array_t<T>>
|
||||
static InitPyArray(Shape&& shape, T* buf, pybind11::handle owner) {
|
||||
int size = 1;
|
||||
mjtSize size = 1;
|
||||
for (const auto& i : shape) {
|
||||
size *= i;
|
||||
}
|
||||
@@ -1043,7 +1043,7 @@ template <typename T, typename Shape>
|
||||
std::enable_if_t<!std::is_arithmetic_v<T> && !is_mj_struct_list_v<T>,
|
||||
pybind11::tuple>
|
||||
static InitPyArray(Shape&& shape, T* buf, pybind11::handle owner) {
|
||||
int size = 1;
|
||||
mjtSize size = 1;
|
||||
for (const auto& i : shape) {
|
||||
size *= i;
|
||||
}
|
||||
|
||||
@@ -60,9 +60,13 @@ namespace {
|
||||
// (dim0, dim1).
|
||||
#define X_ARRAY_SHAPE(dim0, dim1) XArrayShapeImpl(#dim1)((dim0), (dim1))
|
||||
|
||||
std::vector<int> XArrayShapeImpl1D(int dim0, int dim1) { return {dim0}; }
|
||||
std::vector<mjtSize> XArrayShapeImpl1D(mjtSize dim0, mjtSize dim1) {
|
||||
return {dim0};
|
||||
}
|
||||
|
||||
std::vector<int> XArrayShapeImpl2D(int dim0, int dim1) { return {dim0, dim1}; }
|
||||
std::vector<mjtSize> XArrayShapeImpl2D(mjtSize dim0, mjtSize dim1) {
|
||||
return {dim0, dim1};
|
||||
}
|
||||
|
||||
constexpr auto XArrayShapeImpl(const std::string_view dim1_str) {
|
||||
if (dim1_str == "1") {
|
||||
|
||||
Reference in New Issue
Block a user