Import upstream snapshot c19f713c415a699a79d71cd96aa13c3104a05047
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Upstream: https://github.com/michaelgillett/mjlab Upstream-Commit: c19f713c415a699a79d71cd96aa13c3104a05047 Upstream-Branch: main
This commit is contained in:
Upstream Snapshot
@@ -0,0 +1,34 @@
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||||
#!/usr/bin/env bash
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# Generate type stubs for MuJoCo using pybind11-stubgen.
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# This helps suppress pyright/ty errors for MuJoCo's C++ bindings.
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#
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# The output is post-processed by postprocess_stubs.py to make it
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# platform-independent (it drops the OpenGL backend stubs, which differ between
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# macOS and Linux). This keeps the committed stubs identical on every platform,
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# so CI can regenerate them and fail if they drift from the installed mujoco
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# version. pybind11-stubgen is pinned so its output is reproducible.
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set -e
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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# --no-sync runs in the already-synced project environment (so mujoco is
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# importable) without disturbing it; the conflicting cpu/cu128 extras mean a
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# plain "uv run" would re-sync and churn the environment.
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STUBGEN_VERSION="2.5.5"
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STUBGEN=(uv run --no-sync --with "pybind11-stubgen==${STUBGEN_VERSION}" pybind11-stubgen)
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echo "Generating MuJoCo type stubs..."
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"${STUBGEN[@]}" mujoco -o "$SCRIPT_DIR" --ignore-all-errors
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# mujoco.viewer pulls in GLFW, which may not import on a headless machine.
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# Skip it in that case rather than failing; the committed viewer stub is kept.
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if ! "${STUBGEN[@]}" mujoco.viewer -o "$SCRIPT_DIR" --ignore-all-errors; then
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echo "Warning: could not generate mujoco.viewer stubs (no GLFW?). Skipping."
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fi
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echo "Post-processing stubs to make them platform-independent..."
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uv run --no-sync python "$SCRIPT_DIR/postprocess_stubs.py"
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echo "MuJoCo stubs generated successfully in $SCRIPT_DIR/mujoco/"
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File diff suppressed because one or more lines are too long
@@ -0,0 +1,47 @@
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from __future__ import annotations
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import typing
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__all__: list[str] = ['get_mjcb_act_bias', 'get_mjcb_act_dyn', 'get_mjcb_act_gain', 'get_mjcb_contactfilter', 'get_mjcb_control', 'get_mjcb_passive', 'get_mjcb_sensor', 'get_mjcb_time', 'get_mju_user_free', 'get_mju_user_malloc', 'get_mju_user_warning', 'set_mjcb_act_bias', 'set_mjcb_act_dyn', 'set_mjcb_act_gain', 'set_mjcb_contactfilter', 'set_mjcb_control', 'set_mjcb_passive', 'set_mjcb_sensor', 'set_mjcb_time', 'set_mju_user_free', 'set_mju_user_malloc', 'set_mju_user_warning']
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def get_mjcb_act_bias() -> typing.Any:
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...
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def get_mjcb_act_dyn() -> typing.Any:
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...
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def get_mjcb_act_gain() -> typing.Any:
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...
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def get_mjcb_contactfilter() -> typing.Any:
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...
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def get_mjcb_control() -> typing.Any:
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...
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def get_mjcb_passive() -> typing.Any:
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...
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def get_mjcb_sensor() -> typing.Any:
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...
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def get_mjcb_time() -> typing.Any:
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...
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def get_mju_user_free() -> typing.Any:
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...
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def get_mju_user_malloc() -> typing.Any:
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...
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def get_mju_user_warning() -> typing.Any:
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...
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def set_mjcb_act_bias(arg0: typing.Any) -> None:
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...
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def set_mjcb_act_dyn(arg0: typing.Any) -> None:
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...
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def set_mjcb_act_gain(arg0: typing.Any) -> None:
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...
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def set_mjcb_contactfilter(arg0: typing.Any) -> None:
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...
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def set_mjcb_control(arg0: typing.Any) -> None:
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...
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def set_mjcb_passive(arg0: typing.Any) -> None:
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...
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def set_mjcb_sensor(arg0: typing.Any) -> None:
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...
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def set_mjcb_time(arg0: typing.Any) -> None:
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...
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def set_mju_user_free(arg0: typing.Any) -> None:
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...
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def set_mju_user_malloc(arg0: typing.Any) -> None:
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||||
...
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||||
def set_mju_user_warning(arg0: typing.Any) -> None:
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||||
...
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@@ -0,0 +1,38 @@
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from __future__ import annotations
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||||
__all__: list[str] = ['MJTNUM_BYTES', 'mjDISABLESTRING', 'mjENABLESTRING', 'mjFRAMESTRING', 'mjLABELSTRING', 'mjMAXCONPAIR', 'mjMAXFLEXNODES', 'mjMAXIMP', 'mjMAXLIGHT', 'mjMAXLINE', 'mjMAXLINEPNT', 'mjMAXOVERLAY', 'mjMAXPLANEGRID', 'mjMAXTREEDEPTH', 'mjMAXVAL', 'mjMINAWAKE', 'mjMINIMP', 'mjMINMU', 'mjMINVAL', 'mjNBIAS', 'mjNDYN', 'mjNEQDATA', 'mjNFLUID', 'mjNGAIN', 'mjNGROUP', 'mjNIMP', 'mjNISLAND', 'mjNPOLY', 'mjNREF', 'mjNSENS', 'mjNSOLVER', 'mjPI', 'mjRNDSTRING', 'mjTIMERSTRING', 'mjVERSION_HEADER', 'mjVISSTRING']
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MJTNUM_BYTES: int = 8
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mjDISABLESTRING: tuple = ('Constraint', 'Equality', 'Frictionloss', 'Limit', 'Contact', 'Spring', 'Damper', 'Gravity', 'Clampctrl', 'Warmstart', 'Filterparent', 'Actuation', 'Refsafe', 'Sensor', 'Midphase', 'Eulerdamp', 'AutoReset', 'NativeCCD', 'Island', 'MultiCCD')
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mjENABLESTRING: tuple = ('Override', 'Energy', 'Fwdinv', 'InvDiscrete', 'Sleep', 'DiagExact')
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mjFRAMESTRING: tuple = ('None', 'Body', 'Geom', 'Site', 'Camera', 'Light', 'Contact', 'World')
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mjLABELSTRING: tuple = ('None', 'Body', 'Joint', 'Geom', 'Site', 'Camera', 'Light', 'Tendon', 'Actuator', 'Constraint', 'Flex', 'Skin', 'Selection', 'SelPoint', 'Contact', 'ContactForce', 'Island')
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mjMAXCONPAIR: int = 50
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mjMAXFLEXNODES: int = 27
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mjMAXIMP: float = 0.9999
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mjMAXLIGHT: int = 100
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mjMAXLINE: int = 100
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mjMAXLINEPNT: int = 1001
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mjMAXOVERLAY: int = 500
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mjMAXPLANEGRID: int = 200
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mjMAXTREEDEPTH: int = 50
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mjMAXVAL: float = 10000000000.0
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mjMINAWAKE: int = 10
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mjMINIMP: float = 0.0001
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mjMINMU: float = 1e-05
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mjMINVAL: float = 1e-15
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mjNBIAS: int = 10
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mjNDYN: int = 10
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mjNEQDATA: int = 11
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mjNFLUID: int = 12
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mjNGAIN: int = 10
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mjNGROUP: int = 6
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mjNIMP: int = 5
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mjNISLAND: int = 20
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mjNPOLY: int = 2
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mjNREF: int = 2
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mjNSENS: int = 3
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mjNSOLVER: int = 200
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mjPI: float = 3.141592653589793
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mjRNDSTRING: tuple = (('Shadow', '1', 'S'), ('Wireframe', '0', 'W'), ('Reflection', '1', 'R'), ('Additive', '0', 'L'), ('Skybox', '1', 'K'), ('Fog', '0', 'G'), ('Haze', '1', '/'), ('Depth', '0', ''), ('Segment', '0', ','), ('Id Color', '0', ''), ('Cull Face', '1', ''))
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mjTIMERSTRING: tuple = ('step', 'forward', 'inverse', 'position', 'velocity', 'actuation', 'constraint', 'advance', 'pos_kinematics', 'pos_inertia', 'pos_collision', 'pos_make', 'pos_project', 'col_broadphase', 'col_narrowphase')
|
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mjVERSION_HEADER: int = 3011000
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mjVISSTRING: tuple = (('Convex Hull', '0', 'H'), ('Texture', '1', 'X'), ('Joint', '0', 'J'), ('Camera', '0', 'Q'), ('Actuator', '0', 'U'), ('Activation', '0', ','), ('Light', '0', 'Z'), ('Tendon', '1', 'V'), ('Range Finder', '1', 'Y'), ('Equality', '0', 'E'), ('Inertia', '0', 'I'), ('Scale Inertia', '0', "'"), ('Perturb Force', '0', 'B'), ('Perturb Object', '1', 'O'), ('Contact Point', '0', 'C'), ('Island', '0', 'N'), ('Contact Force', '0', 'F'), ('Contact Split', '0', 'P'), ('Transparent', '0', 'T'), ('Auto Connect', '0', 'A'), ('Center of Mass', '0', 'M'), ('Select Point', '0', ''), ('Static Body', '1', 'D'), ('Skin', '1', ';'), ('Flex Vert', '0', ''), ('Flex Edge', '1', ''), ('Flex Face', '0', ''), ('Flex Skin', '1', ''), ('Body Tree', '0', '`'), ('Mesh Tree', '0', '\\'), ('SDF iters', '0', ''))
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||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,4 @@
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||||
from __future__ import annotations
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||||
from mujoco import FatalError
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||||
from mujoco import UnexpectedError
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||||
__all__: list[str] = ['FatalError', 'UnexpectedError']
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||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,486 @@
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||||
from __future__ import annotations
|
||||
import mujoco._structs
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||||
import numpy
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||||
import numpy.typing
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||||
import typing
|
||||
__all__: list[str] = ['MjrContext', 'MjrRendererInfo', 'mjr_addAux', 'mjr_blitAux', 'mjr_blitBuffer', 'mjr_changeFont', 'mjr_defaultRendererInfo', 'mjr_drawPixels', 'mjr_figure', 'mjr_findRect', 'mjr_finish', 'mjr_getError', 'mjr_getRendererInfo', 'mjr_label', 'mjr_maxViewport', 'mjr_overlay', 'mjr_readPixels', 'mjr_rectangle', 'mjr_render', 'mjr_resizeOffscreen', 'mjr_restoreBuffer', 'mjr_setAux', 'mjr_setBuffer', 'mjr_text', 'mjr_uploadHField', 'mjr_uploadMesh', 'mjr_uploadTexture']
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class MjrContext:
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@typing.overload
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def __init__(self) -> None:
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...
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@typing.overload
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def __init__(self, arg0: mujoco._structs.MjModel, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
||||
...
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||||
def free(self) -> None:
|
||||
"""
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||||
Frees resources in current active OpenGL context, sets struct to default.
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"""
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||||
@property
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def auxColor(self) -> numpy.typing.NDArray[numpy.uint32]:
|
||||
...
|
||||
@auxColor.setter
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def auxColor(self, arg1: typing.Any) -> None:
|
||||
...
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||||
@property
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||||
def auxColor_r(self) -> numpy.typing.NDArray[numpy.uint32]:
|
||||
...
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||||
@auxColor_r.setter
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||||
def auxColor_r(self, arg1: typing.Any) -> None:
|
||||
...
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||||
@property
|
||||
def auxFBO(self) -> numpy.typing.NDArray[numpy.uint32]:
|
||||
...
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||||
@auxFBO.setter
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||||
def auxFBO(self, arg1: typing.Any) -> None:
|
||||
...
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||||
@property
|
||||
def auxFBO_r(self) -> numpy.typing.NDArray[numpy.uint32]:
|
||||
...
|
||||
@auxFBO_r.setter
|
||||
def auxFBO_r(self, arg1: typing.Any) -> None:
|
||||
...
|
||||
@property
|
||||
def auxHeight(self) -> numpy.typing.NDArray[numpy.int32]:
|
||||
...
|
||||
@auxHeight.setter
|
||||
def auxHeight(self, arg1: typing.Any) -> None:
|
||||
...
|
||||
@property
|
||||
def auxSamples(self) -> numpy.typing.NDArray[numpy.int32]:
|
||||
...
|
||||
@auxSamples.setter
|
||||
def auxSamples(self, arg1: typing.Any) -> None:
|
||||
...
|
||||
@property
|
||||
def auxWidth(self) -> numpy.typing.NDArray[numpy.int32]:
|
||||
...
|
||||
@auxWidth.setter
|
||||
def auxWidth(self, arg1: typing.Any) -> None:
|
||||
...
|
||||
@property
|
||||
def baseBuiltin(self) -> int:
|
||||
...
|
||||
@baseBuiltin.setter
|
||||
def baseBuiltin(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def baseFontBig(self) -> int:
|
||||
...
|
||||
@baseFontBig.setter
|
||||
def baseFontBig(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def baseFontNormal(self) -> int:
|
||||
...
|
||||
@baseFontNormal.setter
|
||||
def baseFontNormal(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def baseFontShadow(self) -> int:
|
||||
...
|
||||
@baseFontShadow.setter
|
||||
def baseFontShadow(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def baseHField(self) -> int:
|
||||
...
|
||||
@baseHField.setter
|
||||
def baseHField(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def baseMesh(self) -> int:
|
||||
...
|
||||
@baseMesh.setter
|
||||
def baseMesh(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def basePlane(self) -> int:
|
||||
...
|
||||
@basePlane.setter
|
||||
def basePlane(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def charHeight(self) -> int:
|
||||
...
|
||||
@charHeight.setter
|
||||
def charHeight(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def charHeightBig(self) -> int:
|
||||
...
|
||||
@charHeightBig.setter
|
||||
def charHeightBig(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def charWidth(self) -> numpy.typing.NDArray[numpy.int32]:
|
||||
...
|
||||
@charWidth.setter
|
||||
def charWidth(self, arg1: typing.Any) -> None:
|
||||
...
|
||||
@property
|
||||
def charWidthBig(self) -> numpy.typing.NDArray[numpy.int32]:
|
||||
...
|
||||
@charWidthBig.setter
|
||||
def charWidthBig(self, arg1: typing.Any) -> None:
|
||||
...
|
||||
@property
|
||||
def currentBuffer(self) -> int:
|
||||
...
|
||||
@currentBuffer.setter
|
||||
def currentBuffer(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def fogEnd(self) -> float:
|
||||
...
|
||||
@fogEnd.setter
|
||||
def fogEnd(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def fogRGBA(self) -> numpy.typing.NDArray[numpy.float32]:
|
||||
...
|
||||
@fogRGBA.setter
|
||||
def fogRGBA(self, arg1: typing.Any) -> None:
|
||||
...
|
||||
@property
|
||||
def fogStart(self) -> float:
|
||||
...
|
||||
@fogStart.setter
|
||||
def fogStart(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def fontScale(self) -> int:
|
||||
...
|
||||
@fontScale.setter
|
||||
def fontScale(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def glInitialized(self) -> int:
|
||||
...
|
||||
@glInitialized.setter
|
||||
def glInitialized(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def lineWidth(self) -> float:
|
||||
...
|
||||
@lineWidth.setter
|
||||
def lineWidth(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def mat_texid(self) -> numpy.typing.NDArray[numpy.int32]:
|
||||
...
|
||||
@mat_texid.setter
|
||||
def mat_texid(self, arg1: typing.Any) -> None:
|
||||
...
|
||||
@property
|
||||
def mat_texrepeat(self) -> numpy.typing.NDArray[numpy.float32]:
|
||||
...
|
||||
@mat_texrepeat.setter
|
||||
def mat_texrepeat(self, arg1: typing.Any) -> None:
|
||||
...
|
||||
@property
|
||||
def mat_texuniform(self) -> numpy.typing.NDArray[numpy.int32]:
|
||||
...
|
||||
@mat_texuniform.setter
|
||||
def mat_texuniform(self, arg1: typing.Any) -> None:
|
||||
...
|
||||
@property
|
||||
def nskin(self) -> int:
|
||||
...
|
||||
@property
|
||||
def ntexture(self) -> int:
|
||||
...
|
||||
@ntexture.setter
|
||||
def ntexture(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def offColor(self) -> int:
|
||||
...
|
||||
@offColor.setter
|
||||
def offColor(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def offColor_r(self) -> int:
|
||||
...
|
||||
@offColor_r.setter
|
||||
def offColor_r(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def offDepthStencil(self) -> int:
|
||||
...
|
||||
@offDepthStencil.setter
|
||||
def offDepthStencil(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def offDepthStencil_r(self) -> int:
|
||||
...
|
||||
@offDepthStencil_r.setter
|
||||
def offDepthStencil_r(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def offFBO(self) -> int:
|
||||
...
|
||||
@offFBO.setter
|
||||
def offFBO(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def offFBO_r(self) -> int:
|
||||
...
|
||||
@offFBO_r.setter
|
||||
def offFBO_r(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def offHeight(self) -> int:
|
||||
...
|
||||
@offHeight.setter
|
||||
def offHeight(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def offSamples(self) -> int:
|
||||
...
|
||||
@offSamples.setter
|
||||
def offSamples(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def offWidth(self) -> int:
|
||||
...
|
||||
@offWidth.setter
|
||||
def offWidth(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def rangeBuiltin(self) -> int:
|
||||
...
|
||||
@rangeBuiltin.setter
|
||||
def rangeBuiltin(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def rangeFont(self) -> int:
|
||||
...
|
||||
@rangeFont.setter
|
||||
def rangeFont(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def rangeHField(self) -> int:
|
||||
...
|
||||
@rangeHField.setter
|
||||
def rangeHField(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def rangeMesh(self) -> int:
|
||||
...
|
||||
@rangeMesh.setter
|
||||
def rangeMesh(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def rangePlane(self) -> int:
|
||||
...
|
||||
@rangePlane.setter
|
||||
def rangePlane(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def readDepthMap(self) -> int:
|
||||
...
|
||||
@readDepthMap.setter
|
||||
def readDepthMap(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def readPixelFormat(self) -> int:
|
||||
...
|
||||
@readPixelFormat.setter
|
||||
def readPixelFormat(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def shadowClip(self) -> float:
|
||||
...
|
||||
@shadowClip.setter
|
||||
def shadowClip(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def shadowFBO(self) -> int:
|
||||
...
|
||||
@shadowFBO.setter
|
||||
def shadowFBO(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def shadowScale(self) -> float:
|
||||
...
|
||||
@shadowScale.setter
|
||||
def shadowScale(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def shadowSize(self) -> int:
|
||||
...
|
||||
@shadowSize.setter
|
||||
def shadowSize(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def shadowTex(self) -> int:
|
||||
...
|
||||
@shadowTex.setter
|
||||
def shadowTex(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def skinfaceVBO(self) -> tuple:
|
||||
...
|
||||
@property
|
||||
def skinnormalVBO(self) -> tuple:
|
||||
...
|
||||
@property
|
||||
def skintexcoordVBO(self) -> tuple:
|
||||
...
|
||||
@property
|
||||
def skinvertVBO(self) -> tuple:
|
||||
...
|
||||
@property
|
||||
def texture(self) -> numpy.typing.NDArray[numpy.uint32]:
|
||||
...
|
||||
@texture.setter
|
||||
def texture(self, arg1: typing.Any) -> None:
|
||||
...
|
||||
@property
|
||||
def textureType(self) -> numpy.typing.NDArray[numpy.int32]:
|
||||
...
|
||||
@textureType.setter
|
||||
def textureType(self, arg1: typing.Any) -> None:
|
||||
...
|
||||
@property
|
||||
def windowAvailable(self) -> int:
|
||||
...
|
||||
@windowAvailable.setter
|
||||
def windowAvailable(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def windowDoublebuffer(self) -> int:
|
||||
...
|
||||
@windowDoublebuffer.setter
|
||||
def windowDoublebuffer(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def windowSamples(self) -> int:
|
||||
...
|
||||
@windowSamples.setter
|
||||
def windowSamples(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
@property
|
||||
def windowStereo(self) -> int:
|
||||
...
|
||||
@windowStereo.setter
|
||||
def windowStereo(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
...
|
||||
class MjrRendererInfo:
|
||||
__hash__: typing.ClassVar[None] = None
|
||||
def __copy__(self) -> MjrRendererInfo:
|
||||
...
|
||||
def __deepcopy__(self, arg0: dict) -> MjrRendererInfo:
|
||||
...
|
||||
def __eq__(self, arg0: typing.Any) -> bool:
|
||||
...
|
||||
def __init__(self) -> None:
|
||||
...
|
||||
def __repr__(self) -> str:
|
||||
...
|
||||
@property
|
||||
def backend(self) -> str:
|
||||
...
|
||||
@property
|
||||
def renderer(self) -> str:
|
||||
...
|
||||
def mjr_addAux(index: typing.SupportsInt | typing.SupportsIndex, width: typing.SupportsInt | typing.SupportsIndex, height: typing.SupportsInt | typing.SupportsIndex, samples: typing.SupportsInt | typing.SupportsIndex, con: MjrContext) -> None:
|
||||
"""
|
||||
Add Aux buffer with given index to context; free previous Aux buffer.
|
||||
"""
|
||||
def mjr_blitAux(index: typing.SupportsInt | typing.SupportsIndex, src: mujoco._structs.MjrRect, left: typing.SupportsInt | typing.SupportsIndex, bottom: typing.SupportsInt | typing.SupportsIndex, con: MjrContext) -> None:
|
||||
"""
|
||||
Blit from Aux buffer to con->currentBuffer.
|
||||
"""
|
||||
def mjr_blitBuffer(src: mujoco._structs.MjrRect, dst: mujoco._structs.MjrRect, flg_color: typing.SupportsInt | typing.SupportsIndex, flg_depth: typing.SupportsInt | typing.SupportsIndex, con: MjrContext) -> None:
|
||||
"""
|
||||
Blit from src viewpoint in current framebuffer to dst viewport in other framebuffer. If src, dst have different size and flg_depth==0, color is interpolated with GL_LINEAR.
|
||||
"""
|
||||
def mjr_changeFont(fontscale: typing.SupportsInt | typing.SupportsIndex, con: MjrContext) -> None:
|
||||
"""
|
||||
Change font of existing context.
|
||||
"""
|
||||
def mjr_defaultRendererInfo(info: MjrRendererInfo) -> None:
|
||||
"""
|
||||
Set default mjrRendererInfo.
|
||||
"""
|
||||
def mjr_drawPixels(rgb: typing.Annotated[numpy.typing.NDArray[numpy.uint8], "[m, 1]"] | None, depth: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[m, 1]"] | None, viewport: mujoco._structs.MjrRect, con: MjrContext) -> None:
|
||||
"""
|
||||
Draw pixels from client buffer to current OpenGL framebuffer. Viewport is in OpenGL framebuffer; client buffer starts at (0,0).
|
||||
"""
|
||||
def mjr_figure(viewport: mujoco._structs.MjrRect, fig: mujoco._structs.MjvFigure, con: MjrContext) -> None:
|
||||
"""
|
||||
Draw 2D figure.
|
||||
"""
|
||||
def mjr_findRect(x: typing.SupportsInt | typing.SupportsIndex, y: typing.SupportsInt | typing.SupportsIndex, nrect: typing.SupportsInt | typing.SupportsIndex, rect: mujoco._structs.MjrRect) -> int:
|
||||
"""
|
||||
Find first rectangle containing mouse, -1: not found.
|
||||
"""
|
||||
def mjr_finish() -> None:
|
||||
"""
|
||||
Call glFinish.
|
||||
"""
|
||||
def mjr_getError() -> int:
|
||||
"""
|
||||
Call glGetError and return result.
|
||||
"""
|
||||
def mjr_getRendererInfo(info: MjrRendererInfo) -> None:
|
||||
"""
|
||||
Get active renderer information.
|
||||
"""
|
||||
def mjr_label(viewport: mujoco._structs.MjrRect, font: typing.SupportsInt | typing.SupportsIndex, txt: str, r: typing.SupportsFloat | typing.SupportsIndex, g: typing.SupportsFloat | typing.SupportsIndex, b: typing.SupportsFloat | typing.SupportsIndex, a: typing.SupportsFloat | typing.SupportsIndex, rt: typing.SupportsFloat | typing.SupportsIndex, gt: typing.SupportsFloat | typing.SupportsIndex, bt: typing.SupportsFloat | typing.SupportsIndex, con: MjrContext) -> None:
|
||||
"""
|
||||
Draw rectangle with centered text.
|
||||
"""
|
||||
def mjr_maxViewport(con: MjrContext) -> mujoco._structs.MjrRect:
|
||||
"""
|
||||
Get maximum viewport for active buffer.
|
||||
"""
|
||||
def mjr_overlay(font: typing.SupportsInt | typing.SupportsIndex, gridpos: typing.SupportsInt | typing.SupportsIndex, viewport: mujoco._structs.MjrRect, overlay: str, overlay2: str, con: MjrContext) -> None:
|
||||
"""
|
||||
Draw text overlay; font is mjtFont; gridpos is mjtGridPos.
|
||||
"""
|
||||
def mjr_readPixels(rgb: typing.Annotated[numpy.typing.ArrayLike, numpy.uint8] | None, depth: typing.Annotated[numpy.typing.ArrayLike, numpy.float32] | None, viewport: mujoco._structs.MjrRect, con: MjrContext) -> None:
|
||||
"""
|
||||
Read pixels from current OpenGL framebuffer to client buffer. Viewport is in OpenGL framebuffer; client buffer starts at (0,0).
|
||||
"""
|
||||
def mjr_rectangle(viewport: mujoco._structs.MjrRect, r: typing.SupportsFloat | typing.SupportsIndex, g: typing.SupportsFloat | typing.SupportsIndex, b: typing.SupportsFloat | typing.SupportsIndex, a: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
"""
|
||||
Draw rectangle.
|
||||
"""
|
||||
def mjr_render(viewport: mujoco._structs.MjrRect, scn: mujoco._structs.MjvScene, con: MjrContext) -> None:
|
||||
"""
|
||||
Render 3D scene.
|
||||
"""
|
||||
def mjr_resizeOffscreen(width: typing.SupportsInt | typing.SupportsIndex, height: typing.SupportsInt | typing.SupportsIndex, con: MjrContext) -> None:
|
||||
"""
|
||||
Resize offscreen buffers.
|
||||
"""
|
||||
def mjr_restoreBuffer(con: MjrContext) -> None:
|
||||
"""
|
||||
Make con->currentBuffer current again.
|
||||
"""
|
||||
def mjr_setAux(index: typing.SupportsInt | typing.SupportsIndex, con: MjrContext) -> None:
|
||||
"""
|
||||
Set Aux buffer for custom OpenGL rendering (call restoreBuffer when done).
|
||||
"""
|
||||
def mjr_setBuffer(framebuffer: typing.SupportsInt | typing.SupportsIndex, con: MjrContext) -> None:
|
||||
"""
|
||||
Set OpenGL framebuffer for rendering: mjFB_WINDOW or mjFB_OFFSCREEN. If only one buffer is available, set that buffer and ignore framebuffer argument.
|
||||
"""
|
||||
def mjr_text(font: typing.SupportsInt | typing.SupportsIndex, txt: str, con: MjrContext, x: typing.SupportsFloat | typing.SupportsIndex, y: typing.SupportsFloat | typing.SupportsIndex, r: typing.SupportsFloat | typing.SupportsIndex, g: typing.SupportsFloat | typing.SupportsIndex, b: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
||||
"""
|
||||
Draw text at (x,y) in relative coordinates; font is mjtFont.
|
||||
"""
|
||||
def mjr_uploadHField(m: mujoco._structs.MjModel, con: MjrContext, hfieldid: typing.SupportsInt | typing.SupportsIndex) -> None:
|
||||
"""
|
||||
Upload height field to GPU, overwriting previous upload if any.
|
||||
"""
|
||||
def mjr_uploadMesh(m: mujoco._structs.MjModel, con: MjrContext, meshid: typing.SupportsInt | typing.SupportsIndex) -> None:
|
||||
"""
|
||||
Upload mesh to GPU, overwriting previous upload if any.
|
||||
"""
|
||||
def mjr_uploadTexture(m: mujoco._structs.MjModel, con: MjrContext, texid: typing.SupportsInt | typing.SupportsIndex) -> None:
|
||||
"""
|
||||
Upload texture to GPU, overwriting previous upload if any.
|
||||
"""
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because one or more lines are too long
@@ -0,0 +1,145 @@
|
||||
"""
|
||||
Interactive GUI viewer for MuJoCo.
|
||||
"""
|
||||
from __future__ import annotations
|
||||
import abc as abc
|
||||
import atexit as atexit
|
||||
import contextlib as contextlib
|
||||
import glfw as glfw
|
||||
import math as math
|
||||
import mujoco as mujoco
|
||||
from mujoco import _simulate
|
||||
from mujoco._simulate import Simulate as _Simulate
|
||||
import numpy as np
|
||||
import os as os
|
||||
import queue as queue
|
||||
import sys as sys
|
||||
import threading as threading
|
||||
import time as time
|
||||
import typing
|
||||
import weakref as weakref
|
||||
__all__: list[str] = ['CallbackType', 'Handle', 'KeyCallbackType', 'LoaderType', 'MAX_SYNC_MISALIGN', 'PERCENT_REALTIME', 'SIM_REFRESH_FRACTION', 'abc', 'atexit', 'contextlib', 'glfw', 'launch', 'launch_from_path', 'launch_passive', 'math', 'mujoco', 'np', 'os', 'queue', 'sys', 'threading', 'time', 'weakref']
|
||||
class Handle:
|
||||
"""
|
||||
A handle for interacting with a MuJoCo viewer.
|
||||
"""
|
||||
def __enter__(self):
|
||||
...
|
||||
def __exit__(self, exc_type, exc_val, exc_tb):
|
||||
...
|
||||
def __init__(self, sim: mujoco._simulate.Simulate, cam: mujoco._structs.MjvCamera, opt: mujoco._structs.MjvOption, pert: mujoco._structs.MjvPerturb, user_scn: typing.Optional[mujoco._structs.MjvScene]):
|
||||
...
|
||||
def _get_sim(self) -> typing.Optional[mujoco._simulate.Simulate]:
|
||||
...
|
||||
def clear_figures(self):
|
||||
...
|
||||
def clear_images(self):
|
||||
...
|
||||
def clear_texts(self):
|
||||
...
|
||||
def close(self):
|
||||
...
|
||||
def is_running(self) -> bool:
|
||||
...
|
||||
def lock(self):
|
||||
...
|
||||
def set_figures(self, viewports_figures: typing.Union[typing.Tuple[mujoco._structs.MjrRect, mujoco._structs.MjvFigure], typing.List[typing.Tuple[mujoco._structs.MjrRect, mujoco._structs.MjvFigure]]]):
|
||||
"""
|
||||
Overlay figures on the viewer.
|
||||
|
||||
Args:
|
||||
viewports_figures: Single tuple or list of tuples of (viewport, figure)
|
||||
viewport: Rectangle defining position and size of the figure
|
||||
figure: MjvFigure object containing the figure data to display
|
||||
"""
|
||||
def set_images(self, viewports_images: typing.Union[typing.Tuple[mujoco._structs.MjrRect, numpy.ndarray], typing.List[typing.Tuple[mujoco._structs.MjrRect, numpy.ndarray]]]):
|
||||
"""
|
||||
Overlay images on the viewer.
|
||||
|
||||
Args:
|
||||
viewports_images: Single tuple or list of tuples of (viewport, image)
|
||||
viewport: Rectangle defining position and size of the image
|
||||
image: RGB image with shape (height, width, 3)
|
||||
"""
|
||||
def set_texts(self, texts: typing.Union[typing.Tuple[typing.Optional[int], typing.Optional[int], typing.Optional[str], typing.Optional[str]], typing.List[typing.Tuple[typing.Optional[int], typing.Optional[int], typing.Optional[str], typing.Optional[str]]]]):
|
||||
"""
|
||||
Overlay text on the viewer.
|
||||
|
||||
Args:
|
||||
texts: Single tuple or list of tuples of (font, gridpos, text1, text2)
|
||||
font: Font style from mujoco.mjtFontScale
|
||||
gridpos: Position of text box from mujoco.mjtGridPos
|
||||
text1: Left text column, defaults to empty string if None
|
||||
text2: Right text column, defaults to empty string if None
|
||||
"""
|
||||
def sync(self, state_only: bool = False):
|
||||
...
|
||||
def update_hfield(self, hfieldid: int):
|
||||
...
|
||||
def update_mesh(self, meshid: int):
|
||||
...
|
||||
def update_texture(self, texid: int):
|
||||
...
|
||||
@property
|
||||
def cam(self):
|
||||
...
|
||||
@property
|
||||
def d(self):
|
||||
...
|
||||
@property
|
||||
def m(self):
|
||||
...
|
||||
@property
|
||||
def opt(self):
|
||||
...
|
||||
@property
|
||||
def perturb(self):
|
||||
...
|
||||
@property
|
||||
def user_scn(self):
|
||||
...
|
||||
@property
|
||||
def viewport(self):
|
||||
...
|
||||
class _MjPythonBase:
|
||||
__abstractmethods__: typing.ClassVar[frozenset] # value = frozenset()
|
||||
_abc_impl: typing.ClassVar[_abc._abc_data] # value = <_abc._abc_data object>
|
||||
def launch_on_ui_thread(self, model: mujoco._structs.MjModel, data: mujoco._structs.MjData, handle_return: typing.Optional[ForwardRef('queue.Queue[Handle]')], key_callback: typing.Optional[typing.Callable[[int], NoneType]]):
|
||||
...
|
||||
def _file_loader(path: str) -> typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData, str]]:
|
||||
"""
|
||||
Loads an MJCF model from file path.
|
||||
"""
|
||||
def _launch_internal(model: typing.Optional[mujoco._structs.MjModel] = None, data: typing.Optional[mujoco._structs.MjData] = None, *, run_physics_thread: bool, loader: typing.Union[typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData]], typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData, str]], NoneType] = None, handle_return: typing.Optional[ForwardRef('queue.Queue[Handle]')] = None, key_callback: typing.Optional[typing.Callable[[int], NoneType]] = None, show_left_ui: bool = True, show_right_ui: bool = True) -> None:
|
||||
"""
|
||||
Internal API, so that the public API has more readable type annotations.
|
||||
"""
|
||||
def _physics_loop(simulate: mujoco._simulate.Simulate, loader: typing.Union[typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData]], typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData, str]], NoneType]):
|
||||
"""
|
||||
Physics loop for the GUI, to be run in a separate thread.
|
||||
"""
|
||||
def _reload(simulate: mujoco._simulate.Simulate, loader: typing.Union[typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData]], typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData, str]]], notify_loaded: typing.Optional[typing.Callable[[], NoneType]] = None) -> typing.Optional[typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData]]:
|
||||
"""
|
||||
Internal function for reloading a model in the viewer.
|
||||
"""
|
||||
def launch(model: typing.Optional[mujoco._structs.MjModel] = None, data: typing.Optional[mujoco._structs.MjData] = None, *, loader: typing.Optional[typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData]]] = None, show_left_ui: bool = True, show_right_ui: bool = True) -> None:
|
||||
"""
|
||||
Launches the Simulate GUI.
|
||||
"""
|
||||
def launch_from_path(path: str) -> None:
|
||||
"""
|
||||
Launches the Simulate GUI from file path.
|
||||
"""
|
||||
def launch_passive(model: mujoco._structs.MjModel, data: mujoco._structs.MjData, *, key_callback: typing.Optional[typing.Callable[[int], NoneType]] = None, show_left_ui: bool = True, show_right_ui: bool = True) -> Handle:
|
||||
"""
|
||||
Launches a passive Simulate GUI without blocking the running thread.
|
||||
"""
|
||||
CallbackType: typing._CallableGenericAlias # value = typing.Callable[[mujoco._structs.MjModel, mujoco._structs.MjData], NoneType]
|
||||
KeyCallbackType: typing._CallableGenericAlias # value = typing.Callable[[int], NoneType]
|
||||
LoaderType: typing._CallableGenericAlias # value = typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData]]
|
||||
MAX_SYNC_MISALIGN: float = 0.1
|
||||
PERCENT_REALTIME: tuple = (100, 80, 66, 50, 40, 33, 25, 20, 16, 13, 10, 8, 6.6, 5, 4, 3.3, 2.5, 2, 1.6, 1.3, 1, 0.8, 0.66, 0.5, 0.4, 0.33, 0.25, 0.2, 0.16, 0.13, 0.1)
|
||||
SIM_REFRESH_FRACTION: float = 0.7
|
||||
_InternalLoaderType: typing._UnionGenericAlias # value = typing.Union[typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData]], typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData, str]]]
|
||||
_LoaderWithPathType: typing._CallableGenericAlias # value = typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData, str]]
|
||||
_MJPYTHON = None
|
||||
@@ -0,0 +1,104 @@
|
||||
"""Make the generated MuJoCo stubs platform-independent and reproducible.
|
||||
|
||||
``pybind11-stubgen`` introspects the installed ``mujoco`` package, producing two
|
||||
kinds of machine-specific output:
|
||||
|
||||
1. The active OpenGL backend is baked in: ``mujoco.cgl`` on macOS,
|
||||
``mujoco.glfw`` on Linux (or ``mujoco.egl`` / ``mujoco.osmesa`` depending on
|
||||
``MUJOCO_GL``). mjlab does not type-check against the rendering backend, so we
|
||||
drop those stubs and the ``__init__.pyi`` imports referencing them.
|
||||
2. Absolute install paths and live object reprs (memory addresses) are embedded
|
||||
as default values and ``# value = ...`` comments. These vary by machine and
|
||||
run, so we strip them.
|
||||
|
||||
What remains is a deterministic set of physics-binding stubs that is identical
|
||||
on every platform, which lets CI regenerate them and fail if they drift from the
|
||||
installed mujoco version.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import re
|
||||
import shutil
|
||||
from pathlib import Path
|
||||
|
||||
STUB_DIR = Path(__file__).parent / "mujoco"
|
||||
|
||||
# OpenGL context backends mujoco may expose, only one of which exists per
|
||||
# platform / MUJOCO_GL setting.
|
||||
BACKENDS = ("cgl", "egl", "glfw", "glx", "osmesa")
|
||||
|
||||
# Backend modules plus the rendering stubs that import them. None are needed to
|
||||
# type-check mjlab, and all are platform-specific, so remove them entirely.
|
||||
REMOVE = (*BACKENDS, "gl_context.pyi", "renderer.pyi", "rendering")
|
||||
|
||||
# Backend imports in __init__.pyi, e.g. "from mujoco.cgl import GLContext" and
|
||||
# "from . import cgl", along with the names they contribute to __all__.
|
||||
DROP_IMPORT = re.compile(
|
||||
rf"^(?:from mujoco\.(?:{'|'.join(BACKENDS)}) import GLContext"
|
||||
rf"|from \. import (?:{'|'.join(BACKENDS)}))$"
|
||||
)
|
||||
# Module-level constants in __init__.pyi that exist only on some platforms
|
||||
# (macOS exposes is_rosetta / proc_translated for Rosetta detection; Linux does
|
||||
# not). Remove them so the stubs match on every platform.
|
||||
PLATFORM_ONLY = ("is_rosetta", "proc_translated")
|
||||
PLATFORM_ONLY_DEF = re.compile(rf"^(?:{'|'.join(PLATFORM_ONLY)})\b")
|
||||
|
||||
DROP_FROM_ALL = ("GLContext", *BACKENDS, *PLATFORM_ONLY)
|
||||
|
||||
# _SYSTEM holds the host platform name ('Darwin' / 'Linux'); drop the value.
|
||||
SYSTEM_DEFAULT = re.compile(r"^(_SYSTEM: str) = '\w+'$")
|
||||
|
||||
# A trailing "# value = ..." comment that captures a live object repr.
|
||||
VALUE_COMMENT = re.compile(r" {2,}# value = .*$")
|
||||
|
||||
# A string constant whose default is an absolute install path.
|
||||
PATH_DEFAULT = re.compile(
|
||||
r"^(\s*\w+: str) = '[^']*(?:site-packages|/Users/|/home/)[^']*'\s*$"
|
||||
)
|
||||
|
||||
|
||||
def remove_backend_stubs() -> None:
|
||||
for name in REMOVE:
|
||||
target = STUB_DIR / name
|
||||
if target.is_dir():
|
||||
shutil.rmtree(target)
|
||||
elif target.exists():
|
||||
target.unlink()
|
||||
|
||||
|
||||
def patch_init() -> None:
|
||||
init = STUB_DIR / "__init__.pyi"
|
||||
out = []
|
||||
for line in init.read_text().splitlines():
|
||||
if DROP_IMPORT.match(line.strip()) or PLATFORM_ONLY_DEF.match(line):
|
||||
continue
|
||||
line = SYSTEM_DEFAULT.sub(r"\1", line)
|
||||
if line.startswith("__all__"):
|
||||
for name in DROP_FROM_ALL:
|
||||
line = line.replace(f"'{name}', ", "")
|
||||
out.append(line)
|
||||
init.write_text("\n".join(out) + "\n")
|
||||
|
||||
|
||||
def sanitize_machine_specific() -> None:
|
||||
for path in STUB_DIR.rglob("*.pyi"):
|
||||
out = []
|
||||
for line in path.read_text().splitlines():
|
||||
if "# value = " in line and ("site-packages" in line or "0x" in line):
|
||||
line = VALUE_COMMENT.sub("", line)
|
||||
match = PATH_DEFAULT.match(line)
|
||||
if match:
|
||||
line = match.group(1)
|
||||
out.append(line)
|
||||
path.write_text("\n".join(out) + "\n")
|
||||
|
||||
|
||||
def main() -> None:
|
||||
remove_backend_stubs()
|
||||
patch_init()
|
||||
sanitize_machine_specific()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
Reference in New Issue
Block a user