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Remove match in support.py (introduced in Python 3.10).
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google-deepmind/mujoco_playground#16

PiperOrigin-RevId: 717395934
Change-Id: I0be1b8285a79702a1dfc086e15e07bab0f9f6d40
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@btaba @copybara-github
btaba authored and copybara-github committed Jan 20, 2025
1 parent e2b1cfc commit 2a10054
Showing 1 changed file with 96 additions and 98 deletions.
194 changes: 96 additions & 98 deletions mjx/mujoco/mjx/_src/support.py
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Original file line number Diff line number Diff line change
Expand Up @@ -296,71 +296,70 @@ def __init__(self, model: Model, specs: Sequence[Any]):
specs = [specs]
ids = []
for spec in specs:
match spec:
case mujoco.MjsBody():
self.prefix = 'body_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)
case mujoco.MjsJoint():
self.prefix = 'jnt_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_JOINT, spec.name)
case mujoco.MjsGeom():
self.prefix = 'geom_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_GEOM, spec.name)
case mujoco.MjsSite():
self.prefix = 'site_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_SITE, spec.name)
case mujoco.MjsLight():
self.prefix = 'light_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_LIGHT, spec.name)
case mujoco.MjsCamera():
self.prefix = 'cam_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, spec.name)
case mujoco.MjsMesh():
self.prefix = 'mesh_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_MESH, spec.name)
case mujoco.MjsHField():
self.prefix = 'hfield_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_HFIELD, spec.name)
case mujoco.MjsPair():
self.prefix = 'pair_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_PAIR, spec.name)
case mujoco.MjsTendon():
self.prefix = 'tendon_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_TENDON, spec.name)
case mujoco.MjsActuator():
self.prefix = 'actuator_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, spec.name)
case mujoco.MjsSensor():
self.prefix = 'sensor_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, spec.name)
case mujoco.MjsNumeric():
self.prefix = 'numeric_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_NUMERIC, spec.name)
case mujoco.MjsText():
self.prefix = 'text_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_TEXT, spec.name)
case mujoco.MjsTuple():
self.prefix = 'tuple_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_TUPLE, spec.name)
case mujoco.MjsKey():
self.prefix = 'key_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_KEY, spec.name)
case mujoco.MjsEquality():
self.prefix = 'eq_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_EQUALITY, spec.name)
case mujoco.MjsExclude():
self.prefix = 'exclude_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_EXCLUDE, spec.name)
case mujoco.MjsSkin():
self.prefix = 'skin_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_SKIN, spec.name)
case mujoco.MjsMaterial():
self.prefix = 'material_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_MATERIAL, spec.name)
case _:
raise ValueError('invalid spec type')
if isinstance(spec, mujoco.MjsBody):
self.prefix = 'body_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)
elif isinstance(spec, mujoco.MjsJoint):
self.prefix = 'jnt_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_JOINT, spec.name)
elif isinstance(spec, mujoco.MjsGeom):
self.prefix = 'geom_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_GEOM, spec.name)
elif isinstance(spec, mujoco.MjsSite):
self.prefix = 'site_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_SITE, spec.name)
elif isinstance(spec, mujoco.MjsLight):
self.prefix = 'light_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_LIGHT, spec.name)
elif isinstance(spec, mujoco.MjsCamera):
self.prefix = 'cam_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, spec.name)
elif isinstance(spec, mujoco.MjsMesh):
self.prefix = 'mesh_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_MESH, spec.name)
elif isinstance(spec, mujoco.MjsHField):
self.prefix = 'hfield_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_HFIELD, spec.name)
elif isinstance(spec, mujoco.MjsPair):
self.prefix = 'pair_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_PAIR, spec.name)
elif isinstance(spec, mujoco.MjsTendon):
self.prefix = 'tendon_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_TENDON, spec.name)
elif isinstance(spec, mujoco.MjsActuator):
self.prefix = 'actuator_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, spec.name)
elif isinstance(spec, mujoco.MjsSensor):
self.prefix = 'sensor_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, spec.name)
elif isinstance(spec, mujoco.MjsNumeric):
self.prefix = 'numeric_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_NUMERIC, spec.name)
elif isinstance(spec, mujoco.MjsText):
self.prefix = 'text_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_TEXT, spec.name)
elif isinstance(spec, mujoco.MjsTuple):
self.prefix = 'tuple_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_TUPLE, spec.name)
elif isinstance(spec, mujoco.MjsKey):
self.prefix = 'key_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_KEY, spec.name)
elif isinstance(spec, mujoco.MjsEquality):
self.prefix = 'eq_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_EQUALITY, spec.name)
elif isinstance(spec, mujoco.MjsExclude):
self.prefix = 'exclude_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_EXCLUDE, spec.name)
elif isinstance(spec, mujoco.MjsSkin):
self.prefix = 'skin_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_SKIN, spec.name)
elif isinstance(spec, mujoco.MjsMaterial):
self.prefix = 'material_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_MATERIAL, spec.name)
else:
raise ValueError('invalid spec type')
if idx < 0:
raise KeyError(f'invalid name: {spec.name}')
raise KeyError(f'invalid name: {spec.name}') # pytype: disable=attribute-error
ids.append(idx)
if len(ids) == 1:
self.id = ids[0]
Expand Down Expand Up @@ -388,41 +387,40 @@ def __init__(self, data: Data, model: Model, specs: Sequence[Any]):
specs = [specs]
ids = []
for spec in specs:
match spec:
case mujoco.MjsBody():
self.prefix = ''
idx = name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)
case mujoco.MjsJoint():
self.prefix = 'jnt_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_JOINT, spec.name)
case mujoco.MjsGeom():
self.prefix = 'geom_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_GEOM, spec.name)
case mujoco.MjsSite():
self.prefix = 'site_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_SITE, spec.name)
case mujoco.MjsLight():
self.prefix = 'light_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_LIGHT, spec.name)
case mujoco.MjsCamera():
self.prefix = 'cam_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, spec.name)
case mujoco.MjsTendon():
self.prefix = 'ten_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_TENDON, spec.name)
case mujoco.MjsActuator():
self.prefix = 'actuator_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, spec.name)
case mujoco.MjsSensor():
self.prefix = 'sensor_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, spec.name)
case mujoco.MjsEquality():
self.prefix = 'eq_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_EQUALITY, spec.name)
case _:
raise ValueError('invalid spec type')
if isinstance(spec, mujoco.MjsBody):
self.prefix = ''
idx = name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)
elif isinstance(spec, mujoco.MjsJoint):
self.prefix = 'jnt_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_JOINT, spec.name)
elif isinstance(spec, mujoco.MjsGeom):
self.prefix = 'geom_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_GEOM, spec.name)
elif isinstance(spec, mujoco.MjsSite):
self.prefix = 'site_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_SITE, spec.name)
elif isinstance(spec, mujoco.MjsLight):
self.prefix = 'light_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_LIGHT, spec.name)
elif isinstance(spec, mujoco.MjsCamera):
self.prefix = 'cam_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, spec.name)
elif isinstance(spec, mujoco.MjsTendon):
self.prefix = 'ten_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_TENDON, spec.name)
elif isinstance(spec, mujoco.MjsActuator):
self.prefix = 'actuator_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, spec.name)
elif isinstance(spec, mujoco.MjsSensor):
self.prefix = 'sensor_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, spec.name)
elif isinstance(spec, mujoco.MjsEquality):
self.prefix = 'eq_'
idx = name2id(model, mujoco.mjtObj.mjOBJ_EQUALITY, spec.name)
else:
raise ValueError('invalid spec type')
if idx < 0:
raise KeyError(f'invalid name: {spec.name}')
raise KeyError(f'invalid name: {spec.name}') # pytype: disable=attribute-error
ids.append(idx)
if len(ids) == 1:
self.id = ids[0]
Expand Down

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