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Migrate mjModel size fields from int to mjtSize.

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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
2026-01-23 09:40:42 -08:00
committed by Copybara-Service
parent 4a64017a5f
commit 30b903b6c0
24 changed files with 832 additions and 802 deletions
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python/mujoco/structs_wrappers.cc
+6 -2
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@@ -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") {