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Fix array extent parsing logic for introspect.

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Also fix the mjxmacro_test to correctly assert that all array extents defined in the X macros can be correctly parsed from field comments.

PiperOrigin-RevId: 747808525
Change-Id: I0b08dc263f8a46118a07200ae044d6c491207245
This commit is contained in:
Saran Tunyasuvunakool
2025-04-15 04:02:15 -07:00
committed by Copybara-Service
parent ec186430ef
commit 71a7004057
4 changed files with 54 additions and 32 deletions
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python/mujoco/introspect/codegen/generate_structs.py
+8 -5
View File
@@ -47,7 +47,7 @@ _EXCLUDED = (
'mjResource_',
)
_ARRAY_COMMENT_PATTERN = re.compile(r'(.+?)\s\s+\((.+) x (.+)\)\Z')
_ARRAY_COMMENT_PATTERN = re.compile(r'(.+?)\s+\(([^\(\)]+) x ([^\(\)]+)\)\Z')
def traverse(node, visitor):
@@ -93,16 +93,19 @@ class MjStructVisitor:
# No valid normalization, just parse the declname.
return type_parsing.parse_type(declname)
def _make_comment(self, node: ClangJsonNode) -> str:
def _make_comment(self, node: ClangJsonNode, strip: bool = True) -> str:
"""Makes a comment string from a Clang AST FullComment node."""
kind = node.get('kind')
if kind == 'TextComment':
return node['text'].replace('\N{NO-BREAK SPACE}', ' ').strip()
retval = node['text'].replace('\N{NO-BREAK SPACE}', ' ')
else:
strings = []
for child in node['inner']:
strings.append(self._make_comment(child))
return ''.join(strings).strip()
strings.append(self._make_comment(child, strip=False))
retval = ''.join(strings)
if strip:
retval = retval.strip()
return retval
def _make_field(
self, node: ClangJsonNode
python/mujoco/introspect/structs.py
+42 -23
View File
@@ -1744,14 +1744,16 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint solver reference:frictionloss (nv x mjNREF)',
doc='constraint solver reference:frictionloss',
array_extent=('nv', 'mjNREF'),
),
StructFieldDecl(
name='dof_solimp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint solver impedance:frictionloss (nv x mjNIMP)',
doc='constraint solver impedance:frictionloss',
array_extent=('nv', 'mjNIMP'),
),
StructFieldDecl(
name='dof_frictionloss',
@@ -1958,7 +1960,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='detect contact if dist<margin(ngeom x 1)',
doc='detect contact if dist<margin',
array_extent=('ngeom',),
),
StructFieldDecl(
name='geom_gap',
@@ -2117,7 +2120,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='global position rel. to sub-com in qpos0 (ncam x 3)',
doc='global position rel. to sub-com in qpos0',
array_extent=('ncam', 3),
),
StructFieldDecl(
name='cam_pos0',
@@ -2268,7 +2272,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='global position rel. to sub-com in qpos0 (nlight x 3)',
doc='global position rel. to sub-com in qpos0',
array_extent=('nlight', 3),
),
StructFieldDecl(
name='light_pos0',
@@ -2403,7 +2408,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='detect contact if dist<margin(nflex x 1)',
doc='detect contact if dist<margin',
array_extent=('nflex',),
),
StructFieldDecl(
name='flex_gap',
@@ -2434,7 +2440,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of active element layers, 3D only (nflex x 1)',
doc='number of active element layers, 3D only',
array_extent=('nflex',),
),
StructFieldDecl(
name='flex_dim',
@@ -2649,7 +2656,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='shell fragment vertex ids (dim per frag) (nflexshelldata x 1)', # pylint: disable=line-too-long
doc='shell fragment vertex ids (dim per frag)',
array_extent=('nflexshelldata',),
),
StructFieldDecl(
name='flex_evpair',
@@ -2992,7 +3000,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address of asset path for mesh; -1: none (nmesh x 1)',
doc='address of asset path for mesh; -1: none',
array_extent=('nmesh',),
),
StructFieldDecl(
name='mesh_polynum',
@@ -3239,7 +3248,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address of asset path for skin; -1: none (nskin x 1)',
doc='address of asset path for skin; -1: none',
array_extent=('nskin',),
),
StructFieldDecl(
name='hfield_size',
@@ -3454,7 +3464,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='body1<<16 + body2',
doc='body1 << 16 + body2',
array_extent=('npair',),
),
StructFieldDecl(
@@ -3486,7 +3496,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='detect contact if dist<margin(npair x 1)',
doc='detect contact if dist<margin',
array_extent=('npair',),
),
StructFieldDecl(
name='pair_gap',
@@ -3509,7 +3520,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='body1<<16 + body2',
doc='body1 << 16 + body2',
array_extent=('nexclude',),
),
StructFieldDecl(
@@ -3581,7 +3592,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
doc="address of first object in tendon's path (ntendon x 1)",
doc="address of first object in tendon's path",
array_extent=('ntendon',),
),
StructFieldDecl(
name='tendon_num',
@@ -4124,7 +4136,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
doc="address to each instance's config attrib (nplugin x 1)",
doc="address to each instance's config attrib",
array_extent=('nplugin',),
),
StructFieldDecl(
name='numeric_adr',
@@ -5600,7 +5613,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='reduced dof-dof: address of each row in C_colind (nv x 1)', # pylint: disable=line-too-long
doc='reduced dof-dof: address of each row in C_colind',
array_extent=('nv',),
),
StructFieldDecl(
name='C_colind',
@@ -5727,7 +5741,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc="net external force; should equal: (nv x 1)qfrc_applied + J'*xfrc_applied + qfrc_actuator", # pylint: disable=line-too-long
doc="net external force; should equal: qfrc_applied + J'*xfrc_applied + qfrc_actuator", # pylint: disable=line-too-long
array_extent=('nv',),
),
StructFieldDecl(
name='cacc',
@@ -5814,28 +5829,32 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of non-zeros in constraint Jacobian row T (nv x 1)', # pylint: disable=line-too-long
doc='number of non-zeros in constraint Jacobian row T',
array_extent=('nv',),
),
StructFieldDecl(
name='efc_JT_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='row start address in colind array T (nv x 1)', # pylint: disable=line-too-long
doc='row start address in colind array T',
array_extent=('nv',),
),
StructFieldDecl(
name='efc_JT_rowsuper',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of subsequent rows in supernode T (nv x 1)', # pylint: disable=line-too-long
doc='number of subsequent rows in supernode T',
array_extent=('nv',),
),
StructFieldDecl(
name='efc_JT_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='column indices in constraint Jacobian T (nJ x 1)', # pylint: disable=line-too-long
doc='column indices in constraint Jacobian T',
array_extent=('nJ',),
),
StructFieldDecl(
name='efc_J',
@@ -9122,7 +9141,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='settotalmass',
type=ValueType(name='double'),
doc='rescale masses and inertias;<=0: ignore',
doc='rescale masses and inertias; <=0: ignore',
),
StructFieldDecl(
name='balanceinertia',
@@ -9901,7 +9920,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='gap',
type=ValueType(name='double'),
doc='include in solver if dist<margin-gap',
doc='include in solver if dist < margin-gap',
),
StructFieldDecl(
name='mass',