Yuval Tassa
7efaf5c549
PiperOrigin-RevId: 729058910 Change-Id: I3ae9c7c50facca3bfb08a317c2267b9d8672f207
44 lines
1.5 KiB
Python
44 lines
1.5 KiB
Python
# Copyright 2025 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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"""Generate dicts corresponding to mjModel and mjData array X macros."""
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from . import structs
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MJMODEL_S = structs.STRUCTS['mjModel']
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MJDATA_S = structs.STRUCTS['mjData']
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MJMODEL = dict()
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MJDATA = dict()
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for field in MJMODEL_S.fields:
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if not isinstance(field, structs.StructFieldDecl):
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continue
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if field.array_extent is None:
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continue
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if len(field.array_extent) == 1:
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MJMODEL[field.name] = (field.array_extent[0], '1')
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else:
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MJMODEL[field.name] = (field.array_extent[0], str(field.array_extent[1]))
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for field in MJDATA_S.fields:
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if not isinstance(field, structs.StructFieldDecl):
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continue
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if field.array_extent is None:
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continue
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if len(field.array_extent) == 1:
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MJDATA[field.name] = (field.array_extent[0], '1')
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else:
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MJDATA[field.name] = (field.array_extent[0], str(field.array_extent[1]))
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