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Migrate mjtByte to mjtBool for boolean-valued fields.

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PiperOrigin-RevId: 921408093
Change-Id: Icb00457836359779f0f72fc02d6a7c0dc9f6bd23
This commit is contained in:
Yuval Tassa
2026-05-26 05:35:15 -07:00
committed by Copybara-Service
parent 3cabb2eb8e
commit 393c1e4217
33 changed files with 242 additions and 224 deletions
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python/mujoco/codegen/generate_cs_bindings.py
+1
View File
@@ -136,6 +136,7 @@ C_TO_CS_TYPE = {
'void': 'void',
'mjtNum': 'double',
'mjtByte': 'byte',
'mjtBool': 'byte',
'mjtSize': 'UInt64' if ctypes.sizeof(ctypes.c_size_t) == 8 else 'UInt32',
}
python/mujoco/functions.cc
+8 -8
View File
@@ -732,7 +732,7 @@ PYBIND11_MODULE(_functions, pymodule) {
Eigen::Ref<const EigenVectorX> vec,
std::optional<Eigen::Ref<const Eigen::Vector<mjtByte, mjNGROUP>>>
geomgroup,
mjtByte flg_static, int bodyexclude, Eigen::Ref<EigenVectorI> geomid,
mjtBool flg_static, int bodyexclude, Eigen::Ref<EigenVectorI> geomid,
Eigen::Ref<EigenVectorX> dist,
std::optional<Eigen::Ref<EigenVectorX>> normal,
int nray, mjtNum cutoff) {
@@ -758,7 +758,7 @@ PYBIND11_MODULE(_functions, pymodule) {
const mjtNum(*vec)[3],
std::optional<Eigen::Ref<const Eigen::Vector<mjtByte, mjNGROUP>>>
geomgroup,
mjtByte flg_static, int bodyexclude,
mjtBool flg_static, int bodyexclude,
std::optional<Eigen::Ref<Eigen::Vector<int, 1>>> geomid,
std::optional<Eigen::Ref<Eigen::Vector<mjtNum, 3>>> normal) {
return mj_ray(m, d, &(*pnt)[0], &(*vec)[0],
@@ -817,8 +817,8 @@ PYBIND11_MODULE(_functions, pymodule) {
"mj_rayFlex",
util::UnwrapArgs(
[](const raw::MjModel* m, const raw::MjData* d, int flex_layer,
mjtByte flg_vert, mjtByte flg_edge, mjtByte flg_face,
mjtByte flg_skin, int flexid, const mjtNum(*pnt)[3],
mjtBool flg_vert, mjtBool flg_edge, mjtBool flg_face,
mjtBool flg_skin, int flexid, const mjtNum(*pnt)[3],
const mjtNum(*vec)[3],
std::optional<Eigen::Ref<Eigen::Vector<int, 1>>> vertid,
std::optional<Eigen::Ref<Eigen::Vector<mjtNum, 3>>> normal) {
@@ -1370,7 +1370,7 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mju_band2Dense>(
pymodule,
[](Eigen::Ref<EigenArrayXX> res, Eigen::Ref<const EigenVectorX> mat,
int ntotal, int nband, int ndense, mjtByte flg_sym) {
int ntotal, int nband, int ndense, mjtBool flg_sym) {
int nMat = (ntotal - ndense) * nband + ndense * ntotal;
if (mat.size() != nMat) {
throw py::type_error(
@@ -1406,7 +1406,7 @@ PYBIND11_MODULE(_functions, pymodule) {
pymodule,
[](Eigen::Ref<EigenVectorX> res, Eigen::Ref<const EigenArrayXX> mat,
Eigen::Ref<const EigenArrayXX> vec, int ntotal, int nband, int ndense,
int nVec, mjtByte flg_sym) {
int nVec, mjtBool flg_sym) {
int nMat = (ntotal - ndense) * nband + ndense * ntotal;
if (mat.size() != nMat) {
throw py::type_error(
@@ -1576,7 +1576,7 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mjd_transitionFD>(
pymodule,
[](const raw::MjModel* m, raw::MjData* d,
mjtNum eps, mjtByte flg_centered,
mjtNum eps, mjtBool flg_centered,
std::optional<Eigen::Ref<EigenArrayXX>> A,
std::optional<Eigen::Ref<EigenArrayXX>> B,
std::optional<Eigen::Ref<EigenArrayXX>> C,
@@ -1607,7 +1607,7 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mjd_inverseFD>(
pymodule,
[](const raw::MjModel* m, raw::MjData* d,
mjtNum eps, mjtByte flg_actuation,
mjtNum eps, mjtBool flg_actuation,
std::optional<Eigen::Ref<EigenArrayXX>> DfDq,
std::optional<Eigen::Ref<EigenArrayXX>> DfDv,
std::optional<Eigen::Ref<EigenArrayXX>> DfDa,
python/mujoco/introspect/functions.py
+11 -11
View File
@@ -4088,7 +4088,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
FunctionParameterDecl(
name='flg_static',
type=ValueType(name='mjtByte'),
type=ValueType(name='mjtBool'),
),
FunctionParameterDecl(
name='bodyexclude',
@@ -4152,7 +4152,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
FunctionParameterDecl(
name='flg_static',
type=ValueType(name='mjtByte'),
type=ValueType(name='mjtBool'),
),
FunctionParameterDecl(
name='bodyexclude',
@@ -4359,19 +4359,19 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
FunctionParameterDecl(
name='flg_vert',
type=ValueType(name='mjtByte'),
type=ValueType(name='mjtBool'),
),
FunctionParameterDecl(
name='flg_edge',
type=ValueType(name='mjtByte'),
type=ValueType(name='mjtBool'),
),
FunctionParameterDecl(
name='flg_face',
type=ValueType(name='mjtByte'),
type=ValueType(name='mjtBool'),
),
FunctionParameterDecl(
name='flg_skin',
type=ValueType(name='mjtByte'),
type=ValueType(name='mjtBool'),
),
FunctionParameterDecl(
name='flexid',
@@ -8479,7 +8479,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
FunctionParameterDecl(
name='flg_sym',
type=ValueType(name='mjtByte'),
type=ValueType(name='mjtBool'),
),
),
doc='Convert banded matrix to dense matrix, fill upper triangle if flg_sym>0.', # pylint: disable=line-too-long
@@ -8557,7 +8557,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
FunctionParameterDecl(
name='flg_sym',
type=ValueType(name='mjtByte'),
type=ValueType(name='mjtBool'),
),
),
doc='Multiply band-diagonal matrix with nvec vectors, include upper triangle if flg_sym>0.', # pylint: disable=line-too-long
@@ -9404,7 +9404,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
FunctionParameterDecl(
name='flg_centered',
type=ValueType(name='mjtByte'),
type=ValueType(name='mjtBool'),
),
FunctionParameterDecl(
name='A',
@@ -9460,7 +9460,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
FunctionParameterDecl(
name='flg_actuation',
type=ValueType(name='mjtByte'),
type=ValueType(name='mjtBool'),
),
FunctionParameterDecl(
name='DfDq',
@@ -11627,7 +11627,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
('mjs_setInStringVec',
FunctionDecl(
name='mjs_setInStringVec',
return_type=ValueType(name='mjtByte'),
return_type=ValueType(name='mjtBool'),
parameters=(
FunctionParameterDecl(
name='dest',
python/mujoco/introspect/structs.py
+24 -24
View File
@@ -1692,7 +1692,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='jnt_limited',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='mjtBool'),
),
doc='does joint have limits',
array_extent=('njnt',),
@@ -1700,7 +1700,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='jnt_actfrclimited',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='mjtBool'),
),
doc='does joint have actuator force limits',
array_extent=('njnt',),
@@ -1708,7 +1708,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='jnt_actgravcomp',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='mjtBool'),
),
doc='is gravcomp force applied via actuators',
array_extent=('njnt',),
@@ -2404,7 +2404,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='light_castshadow',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='mjtBool'),
),
doc='does light cast shadows',
array_extent=('nlight',),
@@ -2436,7 +2436,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='light_active',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='mjtBool'),
),
doc='is light on',
array_extent=('nlight',),
@@ -2612,7 +2612,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='flex_internal',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='mjtBool'),
),
doc='internal flex collision enabled',
array_extent=('nflex',),
@@ -3044,7 +3044,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='flex_rigid',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='mjtBool'),
),
doc='are all vertices in the same body',
array_extent=('nflex',),
@@ -3052,7 +3052,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='flexedge_rigid',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='mjtBool'),
),
doc='are both edge vertices in same body',
array_extent=('nflexedge',),
@@ -3060,7 +3060,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='flex_centered',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='mjtBool'),
),
doc='are all vertex coordinates (0,0,0)',
array_extent=('nflex',),
@@ -3068,7 +3068,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='flex_flatskin',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='mjtBool'),
),
doc='render flex skin with flat shading',
array_extent=('nflex',),
@@ -3716,7 +3716,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='mat_texuniform',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='mjtBool'),
),
doc='make texture cube uniform',
array_extent=('nmat',),
@@ -3908,7 +3908,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='eq_active0',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='mjtBool'),
),
doc='initial enable/disable constraint state',
array_extent=('neq',),
@@ -4020,7 +4020,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='tendon_limited',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='mjtBool'),
),
doc='does tendon have length limits',
array_extent=('ntendon',),
@@ -4028,7 +4028,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='tendon_actfrclimited',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='mjtBool'),
),
doc='does tendon have actuator force limits',
array_extent=('ntendon',),
@@ -4324,7 +4324,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='actuator_ctrllimited',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='mjtBool'),
),
doc='is control limited',
array_extent=('nu',),
@@ -4332,7 +4332,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='actuator_forcelimited',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='mjtBool'),
),
doc='is force limited',
array_extent=('nu',),
@@ -4340,7 +4340,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='actuator_actlimited',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='mjtBool'),
),
doc='is activation limited',
array_extent=('nu',),
@@ -4372,7 +4372,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='actuator_actearly',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='mjtBool'),
),
doc='step activation before force',
array_extent=('nu',),
@@ -5570,22 +5570,22 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
StructFieldDecl(
name='flg_energypos',
type=ValueType(name='mjtByte'),
type=ValueType(name='mjtBool'),
doc='has mj_energyPos been called',
),
StructFieldDecl(
name='flg_energyvel',
type=ValueType(name='mjtByte'),
type=ValueType(name='mjtBool'),
doc='has mj_energyVel been called',
),
StructFieldDecl(
name='flg_subtreevel',
type=ValueType(name='mjtByte'),
type=ValueType(name='mjtBool'),
doc='has mj_subtreeVel been called',
),
StructFieldDecl(
name='flg_rnepost',
type=ValueType(name='mjtByte'),
type=ValueType(name='mjtBool'),
doc='has mj_rnePostConstraint been called',
),
StructFieldDecl(
@@ -5690,7 +5690,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='eq_active',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='mjtBool'),
),
doc='enable/disable constraints',
array_extent=('neq',),
@@ -6098,7 +6098,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='bvh_active',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='mjtBool'),
),
doc='was bounding volume checked for collision',
array_extent=('nbvh',),