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io.put_model: improve NotImplementedError messages #964

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Merged
thowell merged 1 commit into from
Jan 12, 2026
Merged

io.put_model: improve NotImplementedError messages #964

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42 changes: 22 additions & 20 deletions mujoco_warp/_src/io.py
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Original file line number Diff line number Diff line change
Expand Up @@ -72,36 +72,38 @@ def put_model(mjm: mujoco.MjModel) -> types.Model:
warp_util.check_toolkit_driver()

# model: check supported features in array types
for field, field_type in (
(mjm.actuator_trntype, types.TrnType),
(mjm.actuator_dyntype, types.DynType),
(mjm.actuator_gaintype, types.GainType),
(mjm.actuator_biastype, types.BiasType),
(mjm.eq_type, types.EqType),
(mjm.geom_type, types.GeomType),
(mjm.sensor_type, types.SensorType),
(mjm.wrap_type, types.WrapType),
for field, field_type, mj_type in (
(mjm.actuator_trntype, types.TrnType, mujoco.mjtTrn),
(mjm.actuator_dyntype, types.DynType, mujoco.mjtDyn),
(mjm.actuator_gaintype, types.GainType, mujoco.mjtGain),
(mjm.actuator_biastype, types.BiasType, mujoco.mjtBias),
(mjm.eq_type, types.EqType, mujoco.mjtEq),
(mjm.geom_type, types.GeomType, mujoco.mjtGeom),
(mjm.sensor_type, types.SensorType, mujoco.mjtSensor),
(mjm.wrap_type, types.WrapType, mujoco.mjtWrap),
):
missing = ~np.isin(field, field_type)
if missing.any():
raise NotImplementedError(f"{field_type.__name__}: {field[missing]} not supported.")
names = [mj_type(v).name for v in field[missing]]
raise NotImplementedError(f"{names} not supported.")

# opt: check supported features in scalar types
for field, field_type in (
(mjm.opt.integrator, types.IntegratorType),
(mjm.opt.cone, types.ConeType),
(mjm.opt.solver, types.SolverType),
for field, field_type, mj_type in (
(mjm.opt.integrator, types.IntegratorType, mujoco.mjtIntegrator),
(mjm.opt.cone, types.ConeType, mujoco.mjtCone),
(mjm.opt.solver, types.SolverType, mujoco.mjtSolver),
):
if field not in set(field_type):
raise NotImplementedError(f"{field_type.__name__} {field} is unsupported.")
raise NotImplementedError(f"{mj_type(field).name} is unsupported.")

# opt: check supported features in scalar flag types
for field, field_type in (
(mjm.opt.disableflags, types.DisableBit),
(mjm.opt.enableflags, types.EnableBit),
for field, field_type, mj_type in (
(mjm.opt.disableflags, types.DisableBit, mujoco.mjtDisableBit),
(mjm.opt.enableflags, types.EnableBit, mujoco.mjtEnableBit),
):
if field & ~np.bitwise_or.reduce(field_type):
raise NotImplementedError(f"{field_type.__name__} {field} is unsupported.")
unsupported = field & ~np.bitwise_or.reduce(field_type)
if unsupported:
raise NotImplementedError(f"{mj_type(unsupported).name} is unsupported.")

if ((mjm.flex_contype != 0) | (mjm.flex_conaffinity != 0)).any():
raise NotImplementedError("Flex collisions are not implemented.")
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