Refactor MJMODEL_POINTERS into category-specific macros.

PiperOrigin-RevId: 802089588
Change-Id: I95f6d3f64452328169b2a05d5c6bfd525d7128b1

Author: yuvaltassa

dm_control/autowrap/binding_generator.py

@@ -160,6 +160,8 @@ def parse_hints(self, xmacro_src):
     for tokens, _, _ in parser.scanString(xmacro_src):
       for xmacro in tokens:
         for member in xmacro.members:
+          if not hasattr(member, "name") or not member.name:
+            continue
           # "Squeeze out" singleton dimensions.
           shape = self.get_shape_tuple(member.dims, squeeze=True)
           self.hints_dict.update({member.name: shape})

dm_control/autowrap/codegen_util.py

@@ -78,14 +78,18 @@ def __setitem__(self, k, v):
 
 def macro_struct_name(name, suffix=None):
   """Converts mjxmacro struct names, e.g. "MJDATA_POINTERS" to "mjdata"."""
+  if name.startswith("MJMODEL_POINTERS"):
+    return "mjmodel"
   if suffix is None:
     suffix = _MJXMACRO_SUFFIX
-  return name[:-len(suffix)].lower()
+  if name.endswith(suffix):
+    return name[:-len(suffix)].lower()
+  return name.lower()
 
 
 def is_macro_pointer(name):
   """Returns True if the mjxmacro struct name contains pointer sizes."""
-  return name.endswith(_MJXMACRO_SUFFIX)
+  return name.endswith(_MJXMACRO_SUFFIX) or name.startswith("MJMODEL_POINTERS")
 
 
 def try_coerce_to_num(s, try_types=(int, float)):

dm_control/autowrap/header_parsing.py

@@ -173,12 +173,13 @@ def _nested_ifn_else(ifn_, pred, else_, endif, match_if_true, match_if_false):
     pp.delimitedList(XDIM, delim=COMMA)("dims") +
     RPAREN)
 
+XMACRO_LINE = XMEMBER | NAME
 XMACRO = pp.Group(
     pp.Optional(COMMENT("comment")) +
     DEFINE +
     NAME("name") +
     CONTINUATION +
-    pp.delimitedList(XMEMBER, delim=CONTINUATION)("members"))
+    pp.delimitedList(XMACRO_LINE, delim=CONTINUATION)("members"))
 
 
 # Type/variable declarations.

dm_control/mujoco/index.py

@@ -300,7 +300,14 @@ def _is_name_pointer(field_name):
 
 def _get_size_name(field_name, struct_name='mjmodel'):
   # Look up size name in metadata.
-  return sizes.array_sizes[struct_name][field_name][0]
+  try:
+    return sizes.array_sizes[struct_name][field_name][0]
+  except KeyError:
+    # Special handling required for name pointers in mjModel.
+    if _is_name_pointer(field_name):
+      return 'n' + field_name.split('_')[1][:-3]
+    else:
+      raise
 
 
 def _validate_key_item(key_item):