Yuval Tassa
5d91231d31
PiperOrigin-RevId: 664872558 Change-Id: I7b003374c390958667635fb21089faf2ece54b14
242 lines
8.5 KiB
Python
242 lines
8.5 KiB
Python
# Copyright 2024 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ==============================================================================
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"""Generates the bindings for the MuJoCo specs."""
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from collections.abc import Sequence
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from absl import app
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from introspect import ast_nodes
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from introspect import structs
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SCALAR_TYPES = {'int', 'double', 'float', 'mjtByte', 'mjtNum'}
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def _value_binding_code(
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field: ast_nodes.ValueType, classname: str = '', varname: str = ''
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) -> str:
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"""Creates a string that defines Python bindings for a value type."""
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fulltype = field.name
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if field.name not in SCALAR_TYPES:
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fulltype += '&'
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fullvarname = varname
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rawclassname = classname.replace('mjs', 'raw::Mjs')
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if classname == 'mjSpec': # raw mjSpec has a wrapper
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rawclassname = classname.replace('mjS', 'MjS')
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fullvarname = 'ptr->' + varname
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if field.name.startswith('mjs'): # all other mjs are raw structs
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fulltype = field.name.replace('mjs', 'raw::Mjs')
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if field.name == 'mjsPlugin' or field.name == 'mjsOrientation':
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fulltype = fulltype + '&' # plugin and orientation are not pointers
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else:
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fulltype = fulltype + '*'
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def_property_args = (
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f'"{varname}"',
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f"""[]({rawclassname}& self) -> {fulltype} {{
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return self.{fullvarname};
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}}""",
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f"""[]({rawclassname}& self, {fulltype} {varname}) {{
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self.{fullvarname} = {varname};
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}}""",
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)
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if field.name not in SCALAR_TYPES:
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def_property_args += ('py::return_value_policy::reference_internal',)
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return f'{classname}.def_property({",".join(def_property_args)});'
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def _array_binding_code(
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field: ast_nodes.ArrayType, classname: str = '', varname: str = ''
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) -> str:
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"""Creates a string that declares Python bindings for an array type."""
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if len(field.extents) > 1:
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raise NotImplementedError()
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innertype = field.inner_type.decl()
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rawclassname = classname.replace('mjs', 'raw::Mjs')
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fullvarname = varname
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if classname == 'mjSpec': # raw mjSpec has a wrapper
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rawclassname = classname.replace('mjS', 'MjS')
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fullvarname = 'ptr->' + varname
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if innertype == 'double' or innertype == 'mjtNum':
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innertype = 'MjDouble' # custom Eigen type
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elif innertype == 'float':
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innertype = 'MjFloat' # custom Eigen type
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elif innertype == 'int':
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innertype = 'MjInt' # custom Eigen type
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elif innertype == 'char':
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# char array special case
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return f"""\
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{classname}.def_property(
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"{varname}",
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[]({rawclassname}& self) -> py::array_t<char> {{
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return py::array_t<char>({field.extents[0]}, self.{fullvarname});
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}},
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[]({rawclassname}& self, py::object rhs) {{
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int i = 0;
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for (auto val : rhs) {{
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self.{fullvarname}[i++] = py::cast<char>(val);
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}}
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}}, py::return_value_policy::reference_internal);"""
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# all other array types
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return f"""\
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{classname}.def_property(
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"{varname}",
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[]({rawclassname}& self) -> {innertype}{field.extents[0]} {{
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return {innertype}{field.extents[0]}(self.{fullvarname});
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}},
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[]({rawclassname}& self, {innertype}Ref{field.extents[0]} {varname}) {{
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{innertype}{field.extents[0]}(self.{fullvarname}) = {varname};
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}}, py::return_value_policy::reference_internal);"""
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def _ptr_binding_code(
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field: ast_nodes.PointerType, classname: str = '', varname: str = ''
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) -> str:
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"""Creates a string that declares Python bindings for a pointer type."""
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vartype = field.inner_type.decl()
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rawclassname = classname.replace('mjs', 'raw::Mjs')
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fullvarname = varname
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if classname == 'mjSpec': # raw mjSpec has a wrapper
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rawclassname = classname.replace('mjS', 'MjS')
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fullvarname = 'ptr->' + varname
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if vartype == 'mjsElement': # this is ignored by the caller
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return 'mjsElement'
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if vartype.startswith('mjs'): # for structs, use the value case
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return _value_binding_code(field.inner_type, classname, varname)
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elif vartype == 'mjString': # C++ string -> Python string
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return f"""\
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{classname}.def_property(
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"{varname}",
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[]({rawclassname}& self) -> std::string_view {{
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return *self.{fullvarname};
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}},
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[]({rawclassname}& self, std::string_view {varname}) {{
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*(self.{fullvarname}) = {varname};
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}});"""
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elif ( # C++ vectors of values -> Python array
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vartype == 'mjDoubleVec'
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or vartype == 'mjFloatVec'
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or vartype == 'mjIntVec'
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):
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vartype = vartype.replace('mj', '').replace('Vec', '').lower()
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return f"""\
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{classname}.def_property(
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"{varname}",
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[]({rawclassname}& self) -> py::array_t<{vartype}> {{
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return py::array_t<{vartype}>(self.{fullvarname}->size(),
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self.{fullvarname}->data());
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}},
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[]({rawclassname}& self, py::object rhs) {{
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self.{fullvarname}->clear();
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self.{fullvarname}->reserve(py::len(rhs));
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for (auto val : rhs) {{
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self.{fullvarname}->push_back(py::cast<{vartype}>(val));
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}}
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}}, py::return_value_policy::reference_internal);"""
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elif vartype == 'mjByteVec': # C++ buffer -> Python list
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return f"""\
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{classname}.def_property(
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"{varname}",
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[]({rawclassname}& self) -> py::list {{
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py::list list;
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for (auto val : *self.{fullvarname}) {{
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list.append(val);
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}}
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return list;
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}},
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[]({rawclassname}& self, py::object rhs) {{
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self.{fullvarname}->clear();
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self.{fullvarname}->reserve(py::len(rhs));
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for (auto val : rhs) {{
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self.{fullvarname}->push_back(py::cast<const std::byte>(val));
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}}
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}}, py::return_value_policy::reference_internal);"""
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elif vartype == 'mjStringVec': # C++ vector of strings -> Python list
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return f"""\
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{classname}.def_property(
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"{varname}",
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[]({rawclassname}& self) -> py::list {{
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py::list list;
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for (auto val : *self.{fullvarname}) {{
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list.append(val);
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}}
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return list;
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}},
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[]({rawclassname}& self, py::object rhs) {{
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self.{fullvarname}->clear();
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self.{fullvarname}->reserve(py::len(rhs));
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for (auto val : rhs) {{
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self.{fullvarname}->push_back(py::cast<std::string>(val));
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}}
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}}, py::return_value_policy::reference_internal);"""
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elif 'VecVec' in vartype: # C++ vector of vectors -> Python list of lists
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vartype = vartype.replace('mj', '').replace('VecVec', '').lower()
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return f"""\
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{classname}.def_property(
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"{varname}",
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[]({rawclassname}& self) -> py::list {{
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py::list list;
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for (auto inner_vec : *self.{fullvarname}) {{
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py::list inner_list;
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for (auto val : inner_vec) {{
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inner_list.append(val);
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}}
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list.append(inner_list);
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}}
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return list;
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}},
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[]({rawclassname}& self, py::object rhs) {{
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self.{fullvarname}->clear();
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self.{fullvarname}->reserve(py::len(rhs));
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for (auto inner_list : rhs) {{
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auto inner_vec = py::cast<std::vector<{vartype}>>(inner_list);
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self.{fullvarname}->push_back(inner_vec);
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}}
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}}, py::return_value_policy::reference_internal);"""
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raise NotImplementedError()
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def _binding_code(field: ast_nodes.StructFieldDecl, key: str) -> str:
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if isinstance(field.type, ast_nodes.ValueType):
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return _value_binding_code(field.type, key, field.name)
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elif isinstance(field.type, ast_nodes.PointerType):
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return _ptr_binding_code(field.type, key, field.name)
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elif isinstance(field.type, ast_nodes.ArrayType):
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return _array_binding_code(field.type, key, field.name)
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return ''
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def generate() -> None:
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for key in structs.STRUCTS.keys():
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if (key.startswith('mjs') or key == 'mjSpec') and key != 'mjsElement':
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print('\n // ' + key)
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for field in structs.STRUCTS[key].fields:
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code = _binding_code(field, key)
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if code != 'mjsElement':
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print(code)
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def main(argv: Sequence[str]) -> None:
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if len(argv) > 1:
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raise app.UsageError('Too many command-line arguments.')
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generate()
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if __name__ == '__main__':
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app.run(main)
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