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| | <div class="section" id="internals"> |
| | <h1>Internals<a class="headerlink" href="#internals" title="Permalink to this headline">¶</a></h1> |
| | <div class="section" id="autogenerated-wrappers"> |
| | <span id="genwrapper"></span><h2>Autogenerated wrappers<a class="headerlink" href="#autogenerated-wrappers" title="Permalink to this headline">¶</a></h2> |
| | <p>The Cython struct wrappers are generated by <code class="docutils literal"><span class="pre">scripts/gen_wrappers.py</span></code>. To illustrate how the wrappers work, let’s consider a toy C structure and the corresponding generated Cython cdef class. Here’s a stripped down version of <code class="docutils literal"><span class="pre">mjData</span></code> with a scalar member and a pointer (array) member:</p> |
| | <div class="highlight-default"><div class="highlight"><pre><span></span><span class="n">typedef</span> <span class="n">struct</span> <span class="n">_mjData</span> <span class="p">{</span> |
| | <span class="nb">int</span> <span class="n">ne</span><span class="p">;</span> |
| | <span class="n">mjtNum</span><span class="o">*</span> <span class="n">qpos</span><span class="p">;</span> <span class="o">//</span> <span class="p">(</span><span class="n">nq</span> <span class="n">x</span> <span class="mi">1</span><span class="p">)</span> |
| | <span class="p">}</span> <span class="n">mjData</span><span class="p">;</span> |
| | </pre></div> |
| | </div> |
| | <p>Here’s the corresponding generated Cython wrapper code:</p> |
| | <div class="highlight-default"><div class="highlight"><pre><span></span><span class="n">cdef</span> <span class="k">class</span> <span class="nc">PyMjData</span><span class="p">(</span><span class="nb">object</span><span class="p">):</span> |
| | <span class="n">cdef</span> <span class="n">mjData</span><span class="o">*</span> <span class="n">ptr</span> |
| | <span class="n">cdef</span> <span class="n">mjModel</span><span class="o">*</span> <span class="n">_model</span> |
| | <span class="n">cdef</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span> <span class="n">_qpos</span> |
| |
|
| | <span class="n">cdef</span> <span class="n">void</span> <span class="n">_set</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">mjData</span><span class="o">*</span> <span class="n">p</span><span class="p">,</span> <span class="n">mjModel</span><span class="o">*</span> <span class="n">model</span><span class="p">):</span> |
| | <span class="bp">self</span><span class="o">.</span><span class="n">ptr</span> <span class="o">=</span> <span class="n">p</span> |
| | <span class="bp">self</span><span class="o">.</span><span class="n">_model</span> <span class="o">=</span> <span class="n">model</span> |
| | <span class="bp">self</span><span class="o">.</span><span class="n">_qpos</span> <span class="o">=</span> <span class="n">_wrap_mjtNum_1d</span><span class="p">(</span><span class="n">p</span><span class="o">.</span><span class="n">qpos</span><span class="p">,</span> <span class="n">model</span><span class="o">.</span><span class="n">nq</span><span class="p">)</span> |
| |
|
| | <span class="nd">@property</span> |
| | <span class="k">def</span> <span class="nf">ne</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">ptr</span><span class="o">.</span><span class="n">ne</span> |
| |
|
| | <span class="nd">@ne</span><span class="o">.</span><span class="n">setter</span> |
| | <span class="k">def</span> <span class="nf">ne</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="nb">int</span> <span class="n">x</span><span class="p">):</span> <span class="bp">self</span><span class="o">.</span><span class="n">ptr</span><span class="o">.</span><span class="n">ne</span> <span class="o">=</span> <span class="n">x</span> |
| |
|
| | <span class="nd">@property</span> |
| | <span class="k">def</span> <span class="nf">qpos</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_qpos</span> |
| |
|
| | <span class="n">cdef</span> <span class="n">PyMjData</span> <span class="n">WrapMjData</span><span class="p">(</span><span class="n">mjData</span><span class="o">*</span> <span class="n">p</span><span class="p">,</span> <span class="n">mjModel</span><span class="o">*</span> <span class="n">model</span><span class="p">):</span> |
| | <span class="n">cdef</span> <span class="n">PyMjData</span> <span class="n">o</span> <span class="o">=</span> <span class="n">PyMjData</span><span class="p">()</span> |
| | <span class="n">o</span><span class="o">.</span><span class="n">_set</span><span class="p">(</span><span class="n">p</span><span class="p">,</span> <span class="n">model</span><span class="p">)</span> |
| | <span class="k">return</span> <span class="n">o</span> |
| | </pre></div> |
| | </div> |
| | <p><code class="docutils literal"><span class="pre">PyMjData</span></code> is the wrapper class for exposing the underlying Mujoco structure to Python; it doesn’t perform any memory mangement. A user writing Cython code can create this wrapper using <code class="docutils literal"><span class="pre">WrapMjData</span></code>. A <code class="docutils literal"><span class="pre">mjModel</span></code> pointer must be passed because the shape of a <code class="docutils literal"><span class="pre">mjData</span></code> member, namely <code class="docutils literal"><span class="pre">qpos</span></code>, depends on <code class="docutils literal"><span class="pre">model->nq</span></code>.</p> |
| | <p>Each field of <code class="docutils literal"><span class="pre">mjData</span></code> corresponds to some generated piece of code in <code class="docutils literal"><span class="pre">PyMjData</span></code> that depends on the type of that field. For example, <code class="docutils literal"><span class="pre">ne</span></code> is a scalar integer, so it gets exposed as a pair of getter and setter methods in <code class="docutils literal"><span class="pre">PyMjData</span></code>. <code class="docutils literal"><span class="pre">qpos</span></code> is an array represented as a pointer to its first element, so it’s wrapped with a NumPy array by <code class="docutils literal"><span class="pre">_wrap_mjtNum_1d</span></code> and is exposed with a getter for that NumPy array.</p> |
| | <p>The function <code class="docutils literal"><span class="pre">_wrap_mjtNum_1d</span></code> creates a Cython memoryview from the data pointer and converts it to a NumPy array pointing to the same memory:</p> |
| | <div class="highlight-default"><div class="highlight"><pre><span></span><span class="n">cdef</span> <span class="n">inline</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span> <span class="n">_wrap_mjtNum_1d</span><span class="p">(</span><span class="n">mjtNum</span><span class="o">*</span> <span class="n">a</span><span class="p">,</span> <span class="nb">int</span> <span class="n">shape0</span><span class="p">):</span> |
| | <span class="k">if</span> <span class="n">shape0</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span> <span class="k">return</span> <span class="kc">None</span> |
| | <span class="n">cdef</span> <span class="n">mjtNum</span><span class="p">[:]</span> <span class="n">b</span> <span class="o">=</span> <span class="o"><</span><span class="n">mjtNum</span><span class="p">[:</span><span class="n">shape0</span><span class="p">]</span><span class="o">></span> <span class="n">a</span> |
| | <span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">(</span><span class="n">b</span><span class="p">)</span> |
| | </pre></div> |
| | </div> |
| | <p>Similar functions for other types are also generated as required.</p> |
| | <p>Keep in mind that the only reason to use these autogenerated wrappers is to allow Python users of the Cython code to easily access Mujoco data (for instance the <code class="docutils literal"><span class="pre">MjSim</span></code> Cython class, found in <a href="#id1"><span class="problematic" id="id2">``</span></a>cymj/cymj.pyx`). If you’re writing Cython code and you don’t need the user to access Mujoco data from Python, then there is no reason to use these wrappers.</p> |
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