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Add nullable attribute to AST nodes for function parameters in API introspection. Fixes #309

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This change introduces an `nullable` flag to `ArrayType`, `PointerType`, and `FunctionParameterDecl`. The code generation process now parses function comments from `mujoco.h` to identify parameters marked as "Nullable" and sets this flag accordingly.

PiperOrigin-RevId: 797870883
Change-Id: Ic7cac5a7a9c14177fbf97b8655c5c4809d4ef683
This commit is contained in:
Google DeepMind
2025-08-21 12:33:58 -07:00
committed by Copybara-Service
parent 3dec35a91e
commit ecfe65242f
5 changed files with 148 additions and 10 deletions
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python/mujoco/introspect/ast_nodes.py
+12 -3
View File
@@ -62,9 +62,11 @@ class ValueType:
name: str
is_const: bool = False
is_volatile: bool = False
nullable: bool = False
def __init__(self, name: str, is_const: bool = False,
is_volatile: bool = False):
is_volatile: bool = False,
nullable: bool = False):
is_valid_type_name = (
name == 'void *(*)(void *)' or
VALID_TYPE_NAME_PATTERN.fullmatch(name) or
@@ -74,6 +76,7 @@ class ValueType:
self.name = name
self.is_const = is_const
self.is_volatile = is_volatile
self.nullable = nullable
def decl(self, name_or_decl: Optional[str] = None) -> str:
parts = []
@@ -96,9 +99,11 @@ class ArrayType:
inner_type: Union[ValueType, 'PointerType']
extents: Tuple[int, ...]
nullable: bool = False
def __init__(self, inner_type: Union[ValueType, 'PointerType'],
extents: Sequence[int]):
def __init__(
self, inner_type: Union[ValueType, 'PointerType'], extents: Sequence[int]
):
self.inner_type = inner_type
self.extents = tuple(extents)
@@ -119,6 +124,7 @@ class PointerType:
"""Represents a C pointer type."""
inner_type: Union[ValueType, ArrayType, 'PointerType']
nullable: bool = False
is_const: bool = False
is_volatile: bool = False
is_restrict: bool = False
@@ -126,6 +132,8 @@ class PointerType:
def decl(self, name_or_decl: Optional[str] = None) -> str:
"""Creates a string that declares an object of this type."""
parts = ['*']
if self.nullable:
parts.append('nullable')
if self.is_const:
parts.append('const')
if self.is_volatile:
@@ -155,6 +163,7 @@ class FunctionParameterDecl:
name: str
type: Union[ValueType, ArrayType, PointerType]
nullable: bool = False
def __str__(self):
return self.type.decl(self.name)
python/mujoco/introspect/ast_nodes_test.py
+23
View File
@@ -174,6 +174,29 @@ class AstNodesTest(absltest.TestCase):
self.assertEqual(str(union), 'union {int foo; float bar[3];}')
self.assertEqual(union.decl('var'), 'union {int foo; float bar[3];} var')
def test_function_parameter_decl_nullable(self):
param_ptr_nullable = ast_nodes.FunctionParameterDecl(
name='ptr_param',
type=ast_nodes.PointerType(ast_nodes.ValueType('int')),
nullable=True
)
self.assertTrue(param_ptr_nullable.nullable)
self.assertEqual(str(param_ptr_nullable), 'int * ptr_param')
param_ptr_not_nullable = ast_nodes.FunctionParameterDecl(
name='ptr_param',
type=ast_nodes.PointerType(ast_nodes.ValueType('int')),
)
self.assertFalse(param_ptr_not_nullable.nullable)
self.assertEqual(str(param_ptr_not_nullable), 'int * ptr_param')
param_array_nullable = ast_nodes.FunctionParameterDecl(
name='array_param',
type=ast_nodes.ArrayType(ast_nodes.ValueType('float'), (10,)),
nullable=True
)
self.assertTrue(param_array_nullable.nullable)
self.assertEqual(str(param_array_nullable), 'float array_param[10]')
if __name__ == '__main__':
absltest.main()
python/mujoco/introspect/codegen/generate_functions.py
+31 -6
View File
@@ -58,21 +58,43 @@ class MjFunctionVisitor:
node['type']['qualType'])
parameters = []
comments = []
nullable_params = set()
for child in node['inner']:
child_kind = child.get('kind')
if child_kind == 'FullComment':
comments.append(self._make_comment(child))
nullable_params.update(self._find_nullable_params(child))
comment = ' '.join(comments).strip()
for child in node['inner']:
child_kind = child.get('kind')
if child_kind == 'ParmVarDecl':
parameters.append(self._make_parameter(child))
if child_kind == 'FullComment':
comments.append(self._make_comment(child))
comment = ' '.join(comments).strip()
parameters.append(self._make_parameter(child, nullable_params))
return ast_nodes.FunctionDecl(
name=name, return_type=return_type, parameters=parameters, doc=comment)
def _find_nullable_params(self, node: ClangJsonNode) -> set[str]:
"""Finds the names of parameters that are marked as nullable."""
nullable_params = set()
for child in node['inner']:
child_kind = child.get('kind')
if child_kind == 'ParagraphComment':
nullable_params.update(self._find_nullable_params(child))
if child_kind == 'TextComment':
if 'Nullable' in child['text']:
for param in child['text'].split(':')[1].split(','):
nullable_params.add(param.strip())
return nullable_params
def _make_parameter(
self, node: ClangJsonNode) -> ast_nodes.FunctionParameterDecl:
self, node: ClangJsonNode, nullable_params: set[str]
) -> ast_nodes.FunctionParameterDecl:
"""Makes a ParameterDecl from a Clang AST ParmVarDecl node."""
name = node['name']
type_name = node['type']['qualType']
nullable = name in nullable_params
# For a pointer parameters, look up in the original header to see if
# n array extent was declared there.
@@ -85,7 +107,10 @@ class MjFunctionVisitor:
type_name = decl[:name_begin] + decl[name_end:]
return ast_nodes.FunctionParameterDecl(
name=name, type=type_parsing.parse_type(type_name))
nullable=nullable,
name=name,
type=type_parsing.parse_type(type_name),
)
def _make_comment(self, node: ClangJsonNode) -> str:
"""Makes a comment string from a Clang AST FullComment node."""
python/mujoco/introspect/functions.py
+81
View File
@@ -148,12 +148,14 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjVFS', is_const=True),
),
nullable=True,
),
FunctionParameterDecl(
name='error',
type=PointerType(
inner_type=ValueType(name='char'),
),
nullable=True,
),
FunctionParameterDecl(
name='error_sz',
@@ -180,12 +182,14 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjVFS', is_const=True),
),
nullable=True,
),
FunctionParameterDecl(
name='error',
type=PointerType(
inner_type=ValueType(name='char'),
),
nullable=True,
),
FunctionParameterDecl(
name='error_sz',
@@ -212,12 +216,14 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjVFS', is_const=True),
),
nullable=True,
),
FunctionParameterDecl(
name='error',
type=PointerType(
inner_type=ValueType(name='char'),
),
nullable=True,
),
FunctionParameterDecl(
name='error_sz',
@@ -244,6 +250,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjVFS', is_const=True),
),
nullable=True,
),
),
doc='Compile spec to model.',
@@ -284,6 +291,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjVFS', is_const=True),
),
nullable=True,
),
FunctionParameterDecl(
name='m',
@@ -322,6 +330,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='char'),
),
nullable=True,
),
FunctionParameterDecl(
name='error_sz',
@@ -363,6 +372,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='char'),
),
nullable=True,
),
FunctionParameterDecl(
name='error_sz',
@@ -393,6 +403,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='char'),
),
nullable=True,
),
FunctionParameterDecl(
name='error_sz',
@@ -657,12 +668,14 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
nullable=True,
),
FunctionParameterDecl(
name='buffer',
type=PointerType(
inner_type=ValueType(name='void'),
),
nullable=True,
),
FunctionParameterDecl(
name='buffer_sz',
@@ -689,6 +702,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjVFS', is_const=True),
),
nullable=True,
),
),
doc='Load model from binary MJB file. If vfs is not NULL, look up file in vfs before reading from disk.', # pylint: disable=line-too-long
@@ -1026,6 +1040,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='char'),
),
nullable=True,
),
FunctionParameterDecl(
name='error_sz',
@@ -2206,6 +2221,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='mjtNum'),
extents=(1,),
),
nullable=True,
),
FunctionParameterDecl(
name='flg_coneHessian',
@@ -2470,12 +2486,14 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='jacr',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='point',
@@ -2513,12 +2531,14 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='jacr',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='body',
@@ -2549,12 +2569,14 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='jacr',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='body',
@@ -2615,12 +2637,14 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='jacr',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='geom',
@@ -2651,12 +2675,14 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='jacr',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='site',
@@ -2687,12 +2713,14 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='jacAxis',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='point',
@@ -2737,12 +2765,14 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='jacr',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='point',
@@ -2954,18 +2984,21 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
nullable=True,
),
FunctionParameterDecl(
name='rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
nullable=True,
),
FunctionParameterDecl(
name='colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
nullable=True,
),
),
doc='Add inertia matrix to destination matrix. Destination can be sparse or dense when all int* are NULL.', # pylint: disable=line-too-long
@@ -2993,6 +3026,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
nullable=True,
),
FunctionParameterDecl(
name='torque',
@@ -3000,6 +3034,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
nullable=True,
),
FunctionParameterDecl(
name='point',
@@ -3134,6 +3169,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='mjtNum'),
extents=(6,),
),
nullable=True,
),
),
doc='Returns smallest signed distance between two geoms and optionally segment from geom1 to geom2.', # pylint: disable=line-too-long
@@ -3529,6 +3565,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='int'),
extents=(1,),
),
nullable=True,
),
),
doc='Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude. Return distance (x) to nearest surface, or -1 if no intersection and output geomid. geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion.', # pylint: disable=line-too-long
@@ -3715,6 +3752,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='int'),
extents=(1,),
),
nullable=True,
),
),
doc='Intersect ray with flex, return nearest distance or -1 if no intersection, and also output nearest vertex id.', # pylint: disable=line-too-long
@@ -3764,6 +3802,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='int'),
extents=(1,),
),
nullable=True,
),
),
doc='Intersect ray with skin, return nearest distance or -1 if no intersection, and also output nearest vertex id.', # pylint: disable=line-too-long
@@ -4296,6 +4335,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='int'),
extents=(1,),
),
nullable=True,
),
FunctionParameterDecl(
name='flexid',
@@ -4303,6 +4343,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='int'),
extents=(1,),
),
nullable=True,
),
FunctionParameterDecl(
name='skinid',
@@ -4310,6 +4351,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='int'),
extents=(1,),
),
nullable=True,
),
),
doc='Select geom, flex or skin with mouse, return bodyid; -1: none selected.', # pylint: disable=line-too-long
@@ -4363,6 +4405,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
nullable=True,
),
FunctionParameterDecl(
name='pos',
@@ -4370,6 +4413,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
nullable=True,
),
FunctionParameterDecl(
name='mat',
@@ -4377,6 +4421,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(9,),
),
nullable=True,
),
FunctionParameterDecl(
name='rgba',
@@ -4384,6 +4429,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='float', is_const=True),
extents=(4,),
),
nullable=True,
),
),
doc='Initialize given geom fields when not NULL, set the rest to their default values.', # pylint: disable=line-too-long
@@ -4534,6 +4580,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjModel'),
),
nullable=True,
),
FunctionParameterDecl(
name='src',
@@ -6858,6 +6905,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(9,),
),
nullable=True,
),
),
doc='Coordinate transform of 6D motion or force vector in rotation:translation format. rotnew2old is 3-by-3, NULL means no rotation; flg_force specifies force or motion type.', # pylint: disable=line-too-long
@@ -7789,6 +7837,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
nullable=True,
),
FunctionParameterDecl(
name='H',
@@ -7811,12 +7860,14 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
nullable=True,
),
FunctionParameterDecl(
name='upper',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
nullable=True,
),
),
doc="minimize 0.5*x'*H*x + x'*g s.t. lower <= x <= upper, return rank or -1 if failed inputs: n - problem dimension H - SPD matrix n*n g - bias vector n lower - lower bounds n upper - upper bounds n res - solution warmstart n return value: nfree <= n - rank of unconstrained subspace, -1 if failure outputs (required): res - solution n R - subspace Cholesky factor nfree*nfree allocated: n*(n+7) outputs (optional): index - set of free dimensions nfree allocated: n notes: the initial value of res is used to warmstart the solver R must have allocatd size n*(n+7), but only nfree*nfree values are used in output index (if given) must have allocated size n, but only nfree values are used in output only the lower triangles of H and R and are read from and written to, respectively the convenience function mju_boxQPmalloc allocates the required data structures", # pylint: disable=line-too-long
@@ -8553,24 +8604,28 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='B',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='C',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='D',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
),
doc='Finite differenced transition matrices (control theory notation) d(x_next) = A*dx + B*du d(sensor) = C*dx + D*du required output matrix dimensions: A: (2*nv+na x 2*nv+na) B: (2*nv+na x nu) D: (nsensordata x 2*nv+na) C: (nsensordata x nu)', # pylint: disable=line-too-long
@@ -8605,42 +8660,49 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='DfDv',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='DfDa',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='DsDq',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='DsDv',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='DsDa',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='DmDq',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
),
doc='Finite differenced Jacobians of (force, sensors) = mj_inverse(state, acceleration) All outputs are optional. Output dimensions (transposed w.r.t Control Theory convention): DfDq: (nv x nv) DfDv: (nv x nv) DfDa: (nv x nv) DsDq: (nv x nsensordata) DsDv: (nv x nsensordata) DsDa: (nv x nsensordata) DmDq: (nv x nM) single-letter shortcuts: inputs: q=qpos, v=qvel, a=qacc outputs: f=qfrc_inverse, s=sensordata, m=qM notes: optionally computes mass matrix Jacobian DmDq flg_actuation specifies whether to subtract qfrc_actuator from qfrc_inverse', # pylint: disable=line-too-long
@@ -8670,6 +8732,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='mjtNum'),
extents=(9,),
),
nullable=True,
),
FunctionParameterDecl(
name='Db',
@@ -8677,6 +8740,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='mjtNum'),
extents=(9,),
),
nullable=True,
),
),
doc='Derivatives of mju_subQuat.',
@@ -8703,6 +8767,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='mjtNum'),
extents=(9,),
),
nullable=True,
),
FunctionParameterDecl(
name='Dvel',
@@ -8710,6 +8775,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='mjtNum'),
extents=(9,),
),
nullable=True,
),
FunctionParameterDecl(
name='Dscale',
@@ -8717,6 +8783,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
nullable=True,
),
),
doc='Derivatives of mju_quatIntegrate.',
@@ -9005,6 +9072,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjsDefault', is_const=True),
),
nullable=True,
),
),
doc='Add child body to body, return child.',
@@ -9027,6 +9095,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjsDefault', is_const=True),
),
nullable=True,
),
),
doc='Add site to body, return site spec.',
@@ -9049,6 +9118,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjsDefault', is_const=True),
),
nullable=True,
),
),
doc='Add joint to body.',
@@ -9087,6 +9157,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjsDefault', is_const=True),
),
nullable=True,
),
),
doc='Add geom to body.',
@@ -9109,6 +9180,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjsDefault', is_const=True),
),
nullable=True,
),
),
doc='Add camera to body.',
@@ -9131,6 +9203,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjsDefault', is_const=True),
),
nullable=True,
),
),
doc='Add light to body.',
@@ -9195,6 +9268,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjsDefault', is_const=True),
),
nullable=True,
),
),
doc='Add actuator.',
@@ -9249,6 +9323,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjsDefault', is_const=True),
),
nullable=True,
),
),
doc='Add contact pair.',
@@ -9287,6 +9362,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjsDefault', is_const=True),
),
nullable=True,
),
),
doc='Add equality.',
@@ -9309,6 +9385,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjsDefault', is_const=True),
),
nullable=True,
),
),
doc='Add tendon.',
@@ -9513,6 +9590,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjsDefault', is_const=True),
),
nullable=True,
),
),
doc='Add default.',
@@ -9795,6 +9873,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjsDefault', is_const=True),
),
nullable=True,
),
),
doc='Add mesh.',
@@ -9865,6 +9944,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjsDefault', is_const=True),
),
nullable=True,
),
),
doc='Add material.',
@@ -10537,6 +10617,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
nullable=True,
),
),
doc='Get double array contents and optionally its size.',
python/mujoco/introspect/functions_test.py
+1 -1
View File
@@ -57,7 +57,7 @@ class FunctionsTest(absltest.TestCase):
name='oldpos', type=type_parsing.parse_type('const mjtNum[3]')),
ast_nodes.FunctionParameterDecl(
name='rotnew2old',
type=type_parsing.parse_type('const mjtNum[9]'))))
type=type_parsing.parse_type('const mjtNum[9]'), nullable=True)))
self.assertEqual(
func_decl.doc, 'Coordinate transform of 6D motion or force vector in ' +
'rotation:translation format. rotnew2old is 3-by-3, ' +