Merge pull request #2291 from AaronYoung5:main

PiperOrigin-RevId: 725933976
Change-Id: I207cf272d30e28f00fb4d07bd237385ad4c26a84

python/mujoco/codegen/generate_spec_bindings.py

@@ -24,6 +24,7 @@ from introspect import structs
 
 SCALAR_TYPES = {'int', 'double', 'float', 'mjtByte', 'mjtNum'}
 
+# pylint: disable=bad-whitespace
 # key, parent, default, listname, objtype
 SPECS = [
     ('mjsBody',     'Body', True,  'bodies',     'mjOBJ_BODY'),
@@ -51,6 +52,7 @@ SPECS = [
     ('mjsExclude',  'Spec', False, 'excludes',   'mjOBJ_EXCLUDE'),
     ('mjsPlugin',   'Spec', False, 'plugins',    'mjOBJ_PLUGIN'),
 ]
+# pylint: enable=bad-whitespace
 
 
 def _value_binding_code(
@@ -72,7 +74,7 @@ def _value_binding_code(
         or field.name == 'mjsOrientation'
         or field.name == 'mjsCompiler'
     ):
-      fulltype = fulltype + '&'  # plugin, orientation, compiler are not pointers
+      fulltype = fulltype + '&'  # plugin, orientation, compiler aren't pointers
     else:
       fulltype = fulltype + '*'
   # non-mjs structs
@@ -99,6 +101,26 @@ def _value_binding_code(
   return f'{classname}.def_property({",".join(def_property_args)});'
 
 
+def _struct_binding_code(
+    field: ast_nodes.AnonymousStructDecl, classname: str = '', varname: str = ''
+) -> str:
+  """Creates a string that declares Python bindings for an anonymous struct."""
+  code = ''
+  name = classname + varname.title()
+  # explicitly generate for nested fields with arrays
+  if any(
+      isinstance(f, ast_nodes.StructFieldDecl)
+      and isinstance(f.type, ast_nodes.ArrayType)
+      for f in field.fields
+  ):
+    for subfield in field.fields:
+      code += _binding_code(subfield, name)
+  # generate for the struct itself
+  field = ast_nodes.ValueType(name=name)
+  code += _value_binding_code(field, classname, varname)
+  return code
+
+
 def _array_binding_code(
     field: ast_nodes.ArrayType, classname: str = '', varname: str = ''
 ) -> str:
@@ -255,8 +277,7 @@ def _binding_code(field: ast_nodes.StructFieldDecl, key: str) -> str:
   if isinstance(field.type, ast_nodes.ValueType):
     return _value_binding_code(field.type, key, field.name)
   elif isinstance(field.type, ast_nodes.AnonymousStructDecl):
-    field.type = ast_nodes.ValueType(name='mjVisual'+field.name.title())
-    return _value_binding_code(field.type, key, field.name)
+    return _struct_binding_code(field.type, key, field.name)
   elif isinstance(field.type, ast_nodes.PointerType):
     return _ptr_binding_code(field.type, key, field.name)
   elif isinstance(field.type, ast_nodes.ArrayType):

python/mujoco/specs.cc

@@ -272,6 +272,8 @@ PYBIND11_MODULE(_specs, m) {
   py::class_<raw::MjOption> mjOption(m, "MjOption");
   py::class_<raw::MjStatistic> mjStatistic(m, "MjStatistic");
   py::class_<raw::MjVisual> mjVisual(m, "MjVisual");
+  py::class_<raw::MjVisualHeadlight> mjVisualHeadlight(m, "MjVisualHeadlight");
+  py::class_<raw::MjVisualRgba> mjVisualRgba(m, "MjVisualRgba");
   py::class_<raw::MjsCompiler> mjsCompiler(m, "MjsCompiler");
   DefineArray<char>(m, "MjCharVec");
   DefineArray<std::string>(m, "MjStringVec");
@@ -1100,6 +1102,13 @@ PYBIND11_MODULE(_specs, m) {
       });
   mjsPlugin.def("delete",
                 [](raw::MjsPlugin& self) { mjs_delete(self.element); });
+  // ============================= MJVISUAL ====================================
+  mjVisual.def_property(
+      "global_",
+      [](raw::MjVisual& self) -> raw::MjVisualGlobal& { return self.global; },
+      [](raw::MjVisual& self, raw::MjVisualGlobal& value) {
+        self.global = value;
+      });
 
 #include "specs.cc.inc"
 }  // PYBIND11_MODULE // NOLINT

python/mujoco/specs_test.py

@@ -901,22 +901,31 @@ class SpecsTest(absltest.TestCase):
         <statistic meansize="0.05"/>
         <visual>
           <quality shadowsize="4096"/>
+          <headlight active="0"/>
+          <rgba camera="0 0 0 0"/>
         </visual>
       </mujoco>
     """)
     self.assertEqual(spec.option.timestep, 0.001)
     self.assertEqual(spec.stat.meansize, 0.05)
     self.assertEqual(spec.visual.quality.shadowsize, 4096)
+    self.assertEqual(spec.visual.headlight.active, 0)
+    self.assertEqual(spec.visual.global_, getattr(spec.visual, 'global'))
+    np.testing.assert_array_equal(spec.visual.rgba.camera, [0, 0, 0, 0])
 
     spec.option.timestep = 0.002
     spec.stat.meansize = 0.06
     spec.visual.quality.shadowsize = 8192
+    spec.visual.headlight.active = 1
+    spec.visual.rgba.camera = [1, 1, 1, 1]
 
     model = spec.compile()
 
     self.assertEqual(model.opt.timestep, 0.002)
     self.assertEqual(model.stat.meansize, 0.06)
     self.assertEqual(model.vis.quality.shadowsize, 8192)
+    self.assertEqual(model.vis.headlight.active, 1)
+    np.testing.assert_array_equal(model.vis.rgba.camera, [1, 1, 1, 1])
 
   def test_assign_list_element(self):
     spec = mujoco.MjSpec()