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Upstream: https://github.com/michaelgillett/mjlab Upstream-Commit: c19f713c415a699a79d71cd96aa13c3104a05047 Upstream-Branch: main
595 lines
35 KiB
Python
595 lines
35 KiB
Python
"""
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Python bindings for MuJoCo.
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"""
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from __future__ import annotations
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import ctypes as ctypes
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from mujoco._callbacks import get_mjcb_act_bias
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from mujoco._callbacks import get_mjcb_act_dyn
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from mujoco._callbacks import get_mjcb_act_gain
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from mujoco._callbacks import get_mjcb_contactfilter
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from mujoco._callbacks import get_mjcb_control
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from mujoco._callbacks import get_mjcb_passive
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from mujoco._callbacks import get_mjcb_sensor
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from mujoco._callbacks import get_mjcb_time
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from mujoco._callbacks import get_mju_user_free
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from mujoco._callbacks import get_mju_user_malloc
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from mujoco._callbacks import get_mju_user_warning
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from mujoco._callbacks import set_mjcb_act_bias
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from mujoco._callbacks import set_mjcb_act_dyn
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from mujoco._callbacks import set_mjcb_act_gain
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from mujoco._callbacks import set_mjcb_contactfilter
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from mujoco._callbacks import set_mjcb_control
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from mujoco._callbacks import set_mjcb_passive
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from mujoco._callbacks import set_mjcb_sensor
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from mujoco._callbacks import set_mjcb_time
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from mujoco._callbacks import set_mju_user_free
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from mujoco._callbacks import set_mju_user_malloc
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from mujoco._callbacks import set_mju_user_warning
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from mujoco._enums import mjrIndexType
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from mujoco._enums import mjrMeshPrimitiveType
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from mujoco._enums import mjrPixelFormat
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from mujoco._enums import mjrVertexAttributeType
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from mujoco._enums import mjrVertexAttributeUsage
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from mujoco._enums import mjtAlignFree
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from mujoco._enums import mjtBias
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from mujoco._enums import mjtBuiltin
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from mujoco._enums import mjtButton
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from mujoco._enums import mjtCTimer
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from mujoco._enums import mjtCamLight
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from mujoco._enums import mjtCamOutBit
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from mujoco._enums import mjtCamera
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from mujoco._enums import mjtCatBit
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from mujoco._enums import mjtColorSpace
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from mujoco._enums import mjtConDataField
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from mujoco._enums import mjtCone
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from mujoco._enums import mjtConflict
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from mujoco._enums import mjtConstraint
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from mujoco._enums import mjtConstraintState
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from mujoco._enums import mjtCtrlChart
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from mujoco._enums import mjtDataType
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from mujoco._enums import mjtDepthMap
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from mujoco._enums import mjtDisableBit
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from mujoco._enums import mjtDyn
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from mujoco._enums import mjtEnableBit
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from mujoco._enums import mjtEq
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from mujoco._enums import mjtEvent
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from mujoco._enums import mjtFlexSelf
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from mujoco._enums import mjtFont
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from mujoco._enums import mjtFontScale
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from mujoco._enums import mjtFrame
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from mujoco._enums import mjtFramebuffer
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from mujoco._enums import mjtGain
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from mujoco._enums import mjtGeom
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from mujoco._enums import mjtGeomInertia
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from mujoco._enums import mjtGridPos
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from mujoco._enums import mjtInertiaFromGeom
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from mujoco._enums import mjtIntegrator
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from mujoco._enums import mjtItem
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from mujoco._enums import mjtJacobian
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from mujoco._enums import mjtJoint
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from mujoco._enums import mjtLRMode
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from mujoco._enums import mjtLabel
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from mujoco._enums import mjtLightType
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from mujoco._enums import mjtLimited
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from mujoco._enums import mjtLogLevel
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from mujoco._enums import mjtLogTopic
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from mujoco._enums import mjtMark
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from mujoco._enums import mjtMeshBuiltin
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from mujoco._enums import mjtMeshInertia
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from mujoco._enums import mjtMouse
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from mujoco._enums import mjtObj
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from mujoco._enums import mjtOrientation
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from mujoco._enums import mjtPertBit
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from mujoco._enums import mjtPluginCapabilityBit
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from mujoco._enums import mjtProjection
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from mujoco._enums import mjtRayDataField
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from mujoco._enums import mjtRndFlag
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from mujoco._enums import mjtSDFType
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from mujoco._enums import mjtSameFrame
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from mujoco._enums import mjtSection
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from mujoco._enums import mjtSensor
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from mujoco._enums import mjtSleepPolicy
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from mujoco._enums import mjtSleepState
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from mujoco._enums import mjtSolver
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from mujoco._enums import mjtStage
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from mujoco._enums import mjtState
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from mujoco._enums import mjtStereo
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from mujoco._enums import mjtTexture
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from mujoco._enums import mjtTextureRole
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from mujoco._enums import mjtTimer
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from mujoco._enums import mjtTrn
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from mujoco._enums import mjtVisFlag
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from mujoco._enums import mjtWarning
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from mujoco._enums import mjtWrap
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from mujoco._functions import mj_Euler
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from mujoco._functions import mj_RungeKutta
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from mujoco._functions import mj_actuatorInputName
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from mujoco._functions import mj_addContact
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from mujoco._functions import mj_addM
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from mujoco._functions import mj_angmomMat
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from mujoco._functions import mj_applyFT
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from mujoco._functions import mj_camlight
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from mujoco._functions import mj_checkAcc
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from mujoco._functions import mj_checkPos
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from mujoco._functions import mj_checkVel
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from mujoco._functions import mj_clearCache
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from mujoco._functions import mj_collision
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from mujoco._functions import mj_comPos
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from mujoco._functions import mj_comVel
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from mujoco._functions import mj_compareFwdInv
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from mujoco._functions import mj_constraintUpdate
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from mujoco._functions import mj_contactForce
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from mujoco._functions import mj_copyData
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from mujoco._functions import mj_copyState
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from mujoco._functions import mj_crb
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from mujoco._functions import mj_defaultLROpt
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from mujoco._functions import mj_defaultOption
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from mujoco._functions import mj_defaultSolRefImp
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from mujoco._functions import mj_defaultVisual
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from mujoco._functions import mj_differentiatePos
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from mujoco._functions import mj_energyPos
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from mujoco._functions import mj_energyVel
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from mujoco._functions import mj_extractState
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from mujoco._functions import mj_factorM
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from mujoco._functions import mj_flex
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from mujoco._functions import mj_forward
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from mujoco._functions import mj_forwardSkip
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from mujoco._functions import mj_fullM
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from mujoco._functions import mj_fwdAcceleration
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from mujoco._functions import mj_fwdActuation
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from mujoco._functions import mj_fwdConstraint
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from mujoco._functions import mj_fwdKinematics
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from mujoco._functions import mj_fwdPosition
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from mujoco._functions import mj_fwdVelocity
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from mujoco._functions import mj_geomDistance
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from mujoco._functions import mj_getCache
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from mujoco._functions import mj_getCacheCapacity
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from mujoco._functions import mj_getCacheSize
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from mujoco._functions import mj_getState
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from mujoco._functions import mj_getTotalmass
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from mujoco._functions import mj_id2name
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from mujoco._functions import mj_implicit
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from mujoco._functions import mj_initCtrlHistory
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from mujoco._functions import mj_initSensorHistory
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from mujoco._functions import mj_integratePos
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from mujoco._functions import mj_invConstraint
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from mujoco._functions import mj_invPosition
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from mujoco._functions import mj_invVelocity
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from mujoco._functions import mj_inverse
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from mujoco._functions import mj_inverseSkip
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from mujoco._functions import mj_isDual
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from mujoco._functions import mj_isPyramidal
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from mujoco._functions import mj_isSparse
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from mujoco._functions import mj_island
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from mujoco._functions import mj_jac
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from mujoco._functions import mj_jacBody
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from mujoco._functions import mj_jacBodyCom
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from mujoco._functions import mj_jacDot
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from mujoco._functions import mj_jacGeom
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from mujoco._functions import mj_jacPointAxis
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from mujoco._functions import mj_jacSite
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from mujoco._functions import mj_jacSubtreeCom
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from mujoco._functions import mj_kinematics
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from mujoco._functions import mj_loadAllPluginLibraries
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from mujoco._functions import mj_loadPluginLibrary
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from mujoco._functions import mj_local2Global
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from mujoco._functions import mj_makeConstraint
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from mujoco._functions import mj_makeM
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from mujoco._functions import mj_maxContact
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from mujoco._functions import mj_mulJacTVec
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from mujoco._functions import mj_mulJacVec
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from mujoco._functions import mj_mulM
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from mujoco._functions import mj_mulM2
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from mujoco._functions import mj_multiRay
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from mujoco._functions import mj_name2id
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from mujoco._functions import mj_normalizeQuat
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from mujoco._functions import mj_objectAcceleration
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from mujoco._functions import mj_objectVelocity
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from mujoco._functions import mj_passive
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from mujoco._functions import mj_printData
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from mujoco._functions import mj_printFormattedData
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from mujoco._functions import mj_printFormattedModel
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from mujoco._functions import mj_printFormattedScene
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from mujoco._functions import mj_printModel
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from mujoco._functions import mj_printScene
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from mujoco._functions import mj_printSchema
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from mujoco._functions import mj_projectConstraint
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from mujoco._functions import mj_ray
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from mujoco._functions import mj_rayFlex
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from mujoco._functions import mj_rayHfield
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from mujoco._functions import mj_rayMesh
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from mujoco._functions import mj_readCtrl
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from mujoco._functions import mj_readSensor
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from mujoco._functions import mj_referenceConstraint
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from mujoco._functions import mj_resetCallbacks
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from mujoco._functions import mj_resetCtrl
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from mujoco._functions import mj_resetData
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from mujoco._functions import mj_resetDataDebug
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from mujoco._functions import mj_resetDataKeyframe
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from mujoco._functions import mj_rne
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from mujoco._functions import mj_rnePostConstraint
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from mujoco._functions import mj_saveLastXML
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from mujoco._functions import mj_saveModel
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from mujoco._functions import mj_sensorAcc
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from mujoco._functions import mj_sensorPos
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from mujoco._functions import mj_sensorVel
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from mujoco._functions import mj_setCacheCapacity
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from mujoco._functions import mj_setConst
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from mujoco._functions import mj_setKeyframe
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from mujoco._functions import mj_setLengthRange
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from mujoco._functions import mj_setState
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from mujoco._functions import mj_setTotalmass
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from mujoco._functions import mj_sizeModel
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from mujoco._functions import mj_solveM
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from mujoco._functions import mj_solveM2
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from mujoco._functions import mj_stateSize
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from mujoco._functions import mj_step
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from mujoco._functions import mj_step1
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from mujoco._functions import mj_step2
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from mujoco._functions import mj_subtreeVel
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from mujoco._functions import mj_tendon
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from mujoco._functions import mj_transmission
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from mujoco._functions import mj_version
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from mujoco._functions import mj_versionString
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from mujoco._functions import mjd_inverseFD
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from mujoco._functions import mjd_quatIntegrate
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from mujoco._functions import mjd_subQuat
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from mujoco._functions import mjd_transitionFD
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from mujoco._functions import mju_Halton
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from mujoco._functions import mju_L1
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from mujoco._functions import mju_add
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from mujoco._functions import mju_add3
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from mujoco._functions import mju_addScl
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from mujoco._functions import mju_addScl3
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from mujoco._functions import mju_addTo
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from mujoco._functions import mju_addTo3
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from mujoco._functions import mju_addToScl
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from mujoco._functions import mju_addToScl3
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from mujoco._functions import mju_axisAngle2Quat
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from mujoco._functions import mju_band2Dense
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from mujoco._functions import mju_bandDiag
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from mujoco._functions import mju_bandMulMatVec
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from mujoco._functions import mju_boxQP
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from mujoco._functions import mju_cholFactor
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from mujoco._functions import mju_cholFactorBand
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from mujoco._functions import mju_cholSolve
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from mujoco._functions import mju_cholSolveBand
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from mujoco._functions import mju_cholUpdate
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from mujoco._functions import mju_clip
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from mujoco._functions import mju_copy
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from mujoco._functions import mju_copy3
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from mujoco._functions import mju_copy4
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from mujoco._functions import mju_cross
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from mujoco._functions import mju_d2n
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from mujoco._functions import mju_decodePyramid
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from mujoco._functions import mju_dense2Band
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from mujoco._functions import mju_dense2sparse
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from mujoco._functions import mju_derivQuat
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from mujoco._functions import mju_dist3
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from mujoco._functions import mju_dot
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from mujoco._functions import mju_dot3
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from mujoco._functions import mju_eig3
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from mujoco._functions import mju_encodePyramid
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from mujoco._functions import mju_euler2Quat
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from mujoco._functions import mju_eye
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from mujoco._functions import mju_f2n
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from mujoco._functions import mju_fill
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from mujoco._functions import mju_getXMLDependencies
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from mujoco._functions import mju_insertionSort
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from mujoco._functions import mju_insertionSortInt
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from mujoco._functions import mju_isBad
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from mujoco._functions import mju_isZero
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from mujoco._functions import mju_mat2Quat
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from mujoco._functions import mju_mat2Rot
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from mujoco._functions import mju_max
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from mujoco._functions import mju_min
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from mujoco._functions import mju_mulMatMat
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from mujoco._functions import mju_mulMatMatT
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from mujoco._functions import mju_mulMatTMat
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from mujoco._functions import mju_mulMatTVec
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from mujoco._functions import mju_mulMatTVec3
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from mujoco._functions import mju_mulMatVec
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from mujoco._functions import mju_mulMatVec3
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from mujoco._functions import mju_mulPose
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from mujoco._functions import mju_mulQuat
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from mujoco._functions import mju_mulQuatAxis
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from mujoco._functions import mju_mulVecMatVec
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from mujoco._functions import mju_muscleBias
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from mujoco._functions import mju_muscleDynamics
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from mujoco._functions import mju_muscleGain
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from mujoco._functions import mju_n2d
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from mujoco._functions import mju_n2f
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from mujoco._functions import mju_negPose
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from mujoco._functions import mju_negQuat
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from mujoco._functions import mju_norm
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from mujoco._functions import mju_norm3
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from mujoco._functions import mju_normalize
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from mujoco._functions import mju_normalize3
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from mujoco._functions import mju_normalize4
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from mujoco._functions import mju_printMat
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from mujoco._functions import mju_printMatSparse
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from mujoco._functions import mju_quat2Mat
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from mujoco._functions import mju_quat2Vel
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from mujoco._functions import mju_quatIntegrate
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from mujoco._functions import mju_quatZ2Vec
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from mujoco._functions import mju_rayGeom
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from mujoco._functions import mju_raySkin
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from mujoco._functions import mju_rotVecQuat
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from mujoco._functions import mju_round
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from mujoco._functions import mju_scl
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from mujoco._functions import mju_scl3
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from mujoco._functions import mju_sigmoid
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from mujoco._functions import mju_sign
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from mujoco._functions import mju_sparse2dense
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from mujoco._functions import mju_springDamper
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from mujoco._functions import mju_sqrMatTD
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from mujoco._functions import mju_standardNormal
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from mujoco._functions import mju_str2Type
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from mujoco._functions import mju_sub
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from mujoco._functions import mju_sub3
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from mujoco._functions import mju_subFrom
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from mujoco._functions import mju_subFrom3
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from mujoco._functions import mju_subQuat
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from mujoco._functions import mju_sum
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from mujoco._functions import mju_sym2dense
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from mujoco._functions import mju_symmetrize
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from mujoco._functions import mju_threadpool
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from mujoco._functions import mju_transformSpatial
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from mujoco._functions import mju_transpose
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from mujoco._functions import mju_trnVecPose
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from mujoco._functions import mju_type2Str
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from mujoco._functions import mju_unit4
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from mujoco._functions import mju_warningText
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from mujoco._functions import mju_writeLog
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from mujoco._functions import mju_writeNumBytes
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from mujoco._functions import mju_zero
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from mujoco._functions import mju_zero3
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from mujoco._functions import mju_zero4
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from mujoco._functions import mjv_addGeoms
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from mujoco._functions import mjv_alignToCamera
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from mujoco._functions import mjv_applyPerturbForce
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from mujoco._functions import mjv_applyPerturbPose
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from mujoco._functions import mjv_cameraFrame
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from mujoco._functions import mjv_cameraFrustum
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from mujoco._functions import mjv_cameraInModel
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from mujoco._functions import mjv_cameraInRoom
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from mujoco._functions import mjv_connector
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from mujoco._functions import mjv_defaultCamera
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from mujoco._functions import mjv_defaultFigure
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from mujoco._functions import mjv_defaultFreeCamera
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from mujoco._functions import mjv_defaultOption
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from mujoco._functions import mjv_defaultPerturb
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from mujoco._functions import mjv_frustumHeight
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from mujoco._functions import mjv_initGeom
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from mujoco._functions import mjv_initPerturb
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from mujoco._functions import mjv_makeLights
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from mujoco._functions import mjv_model2room
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from mujoco._functions import mjv_moveCamera
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from mujoco._functions import mjv_moveModel
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from mujoco._functions import mjv_movePerturb
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from mujoco._functions import mjv_room2model
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from mujoco._functions import mjv_select
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from mujoco._functions import mjv_updateCamera
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from mujoco._functions import mjv_updateScene
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from mujoco._functions import mjv_updateSkin
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from mujoco._render import MjrContext
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from mujoco._render import MjrRendererInfo
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from mujoco._render import mjr_addAux
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from mujoco._render import mjr_blitAux
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from mujoco._render import mjr_blitBuffer
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from mujoco._render import mjr_changeFont
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from mujoco._render import mjr_defaultRendererInfo
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from mujoco._render import mjr_drawPixels
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from mujoco._render import mjr_figure
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from mujoco._render import mjr_findRect
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from mujoco._render import mjr_finish
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from mujoco._render import mjr_getError
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from mujoco._render import mjr_getRendererInfo
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from mujoco._render import mjr_label
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from mujoco._render import mjr_maxViewport
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from mujoco._render import mjr_overlay
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from mujoco._render import mjr_readPixels
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from mujoco._render import mjr_rectangle
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from mujoco._render import mjr_render
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from mujoco._render import mjr_resizeOffscreen
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from mujoco._render import mjr_restoreBuffer
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from mujoco._render import mjr_setAux
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from mujoco._render import mjr_setBuffer
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from mujoco._render import mjr_text
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from mujoco._render import mjr_uploadHField
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from mujoco._render import mjr_uploadMesh
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from mujoco._render import mjr_uploadTexture
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from mujoco._specs import MjByteVec
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from mujoco._specs import MjCharVec
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from mujoco._specs import MjDoubleVec
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from mujoco._specs import MjFloatVec
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from mujoco._specs import MjIntVec
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from mujoco._specs import MjSpec
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from mujoco._specs import MjStringVec
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from mujoco._specs import MjVfs
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from mujoco._specs import MjVisualHeadlight
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from mujoco._specs import MjVisualRgba
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from mujoco._specs import MjsActuator
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from mujoco._specs import MjsAuthored
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from mujoco._specs import MjsBody
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from mujoco._specs import MjsCamera
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from mujoco._specs import MjsCompiler
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from mujoco._specs import MjsDefault
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from mujoco._specs import MjsElement
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from mujoco._specs import MjsEquality
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from mujoco._specs import MjsExclude
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from mujoco._specs import MjsFlex
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from mujoco._specs import MjsFrame
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from mujoco._specs import MjsGeom
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from mujoco._specs import MjsHField
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from mujoco._specs import MjsJoint
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|
from mujoco._specs import MjsKey
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|
from mujoco._specs import MjsLight
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|
from mujoco._specs import MjsMaterial
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|
from mujoco._specs import MjsMesh
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|
from mujoco._specs import MjsNumeric
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|
from mujoco._specs import MjsOrientation
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from mujoco._specs import MjsPair
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from mujoco._specs import MjsPlugin
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from mujoco._specs import MjsSensor
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from mujoco._specs import MjsSite
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from mujoco._specs import MjsSkin
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|
from mujoco._specs import MjsTendon
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|
from mujoco._specs import MjsTendonPath
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from mujoco._specs import MjsText
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|
from mujoco._specs import MjsTexture
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|
from mujoco._specs import MjsTuple
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|
from mujoco._specs import MjsWrap
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|
from mujoco._structs import MjContact
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|
from mujoco._structs import MjData
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|
from mujoco._structs import MjLROpt
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|
from mujoco._structs import MjLogConfig
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|
from mujoco._structs import MjLogMessage
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|
from mujoco._structs import MjModel
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|
from mujoco._structs import MjOption
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|
from mujoco._structs import MjPreContact
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|
from mujoco._structs import MjSolverStat
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|
from mujoco._structs import MjStatistic
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|
from mujoco._structs import MjTimerStat
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|
from mujoco._structs import MjVisual
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|
from mujoco._structs import MjWarningStat
|
|
from mujoco._structs import MjrRect
|
|
from mujoco._structs import MjrVertexAttribute
|
|
from mujoco._structs import MjvCamera
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|
from mujoco._structs import MjvFigure
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|
from mujoco._structs import MjvGLCamera
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|
from mujoco._structs import MjvGeom
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|
from mujoco._structs import MjvLight
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|
from mujoco._structs import MjvOption
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|
from mujoco._structs import MjvPerturb
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|
from mujoco._structs import MjvScene
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|
from mujoco._structs import mjv_averageCamera
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|
from mujoco.rendering.classic.renderer import Renderer
|
|
import numpy as np
|
|
from numpy import float64 as MJTNUM_DTYPE
|
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import os as os
|
|
import platform as platform
|
|
import subprocess as subprocess
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|
import typing
|
|
from typing import Any
|
|
from typing import IO
|
|
import warnings as warnings
|
|
import zipfile as zipfile
|
|
from . import _callbacks
|
|
from . import _constants
|
|
from . import _enums
|
|
from . import _errors
|
|
from . import _functions
|
|
from . import _render
|
|
from . import _specs
|
|
from . import _structs
|
|
from . import rendering
|
|
__all__: list[str] = ['Any', 'FatalError', 'HEADERS_DIR', 'IO', 'MJTNUM_BYTES', 'MJTNUM_DTYPE', 'MjByteVec', 'MjCharVec', 'MjContact', 'MjData', 'MjDoubleVec', 'MjFloatVec', 'MjIntVec', 'MjLROpt', 'MjLogConfig', 'MjLogMessage', 'MjModel', 'MjOption', 'MjPreContact', 'MjSolverStat', 'MjSpec', 'MjStatistic', 'MjStringVec', 'MjStruct', 'MjTimerStat', 'MjVfs', 'MjVisual', 'MjVisualHeadlight', 'MjVisualRgba', 'MjWarningStat', 'MjrContext', 'MjrRect', 'MjrRendererInfo', 'MjrVertexAttribute', 'MjsActuator', 'MjsAuthored', 'MjsBody', 'MjsCamera', 'MjsCompiler', 'MjsDefault', 'MjsElement', 'MjsEquality', 'MjsExclude', 'MjsFlex', 'MjsFrame', 'MjsGeom', 'MjsHField', 'MjsJoint', 'MjsKey', 'MjsLight', 'MjsMaterial', 'MjsMesh', 'MjsNumeric', 'MjsOrientation', 'MjsPair', 'MjsPlugin', 'MjsSensor', 'MjsSite', 'MjsSkin', 'MjsTendon', 'MjsTendonPath', 'MjsText', 'MjsTexture', 'MjsTuple', 'MjsWrap', 'MjvCamera', 'MjvFigure', 'MjvGLCamera', 'MjvGeom', 'MjvLight', 'MjvOption', 'MjvPerturb', 'MjvScene', 'PLUGINS_DIR', 'PLUGIN_HANDLES', 'Renderer', 'UnexpectedError', 'ctypes', 'from_zip', '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', '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', 'mj_Euler', 'mj_RungeKutta', 'mj_actuatorInputName', 'mj_addContact', 'mj_addM', 'mj_angmomMat', 'mj_applyFT', 'mj_camlight', 'mj_checkAcc', 'mj_checkPos', 'mj_checkVel', 'mj_clearCache', 'mj_collision', 'mj_comPos', 'mj_comVel', 'mj_compareFwdInv', 'mj_constraintUpdate', 'mj_contactForce', 'mj_copyData', 'mj_copyState', 'mj_crb', 'mj_defaultLROpt', 'mj_defaultOption', 'mj_defaultSolRefImp', 'mj_defaultVisual', 'mj_differentiatePos', 'mj_energyPos', 'mj_energyVel', 'mj_extractState', 'mj_factorM', 'mj_flex', 'mj_forward', 'mj_forwardSkip', 'mj_fullM', 'mj_fwdAcceleration', 'mj_fwdActuation', 'mj_fwdConstraint', 'mj_fwdKinematics', 'mj_fwdPosition', 'mj_fwdVelocity', 'mj_geomDistance', 'mj_getCache', 'mj_getCacheCapacity', 'mj_getCacheSize', 'mj_getState', 'mj_getTotalmass', 'mj_id2name', 'mj_implicit', 'mj_initCtrlHistory', 'mj_initSensorHistory', 'mj_integratePos', 'mj_invConstraint', 'mj_invPosition', 'mj_invVelocity', 'mj_inverse', 'mj_inverseSkip', 'mj_isDual', 'mj_isPyramidal', 'mj_isSparse', 'mj_island', 'mj_jac', 'mj_jacBody', 'mj_jacBodyCom', 'mj_jacDot', 'mj_jacGeom', 'mj_jacPointAxis', 'mj_jacSite', 'mj_jacSubtreeCom', 'mj_kinematics', 'mj_loadAllPluginLibraries', 'mj_loadPluginLibrary', 'mj_local2Global', 'mj_makeConstraint', 'mj_makeM', 'mj_maxContact', 'mj_mulJacTVec', 'mj_mulJacVec', 'mj_mulM', 'mj_mulM2', 'mj_multiRay', 'mj_name2id', 'mj_normalizeQuat', 'mj_objectAcceleration', 'mj_objectVelocity', 'mj_passive', 'mj_printData', 'mj_printFormattedData', 'mj_printFormattedModel', 'mj_printFormattedScene', 'mj_printModel', 'mj_printScene', 'mj_printSchema', 'mj_projectConstraint', 'mj_ray', 'mj_rayFlex', 'mj_rayHfield', 'mj_rayMesh', 'mj_readCtrl', 'mj_readSensor', 'mj_referenceConstraint', 'mj_resetCallbacks', 'mj_resetCtrl', 'mj_resetData', 'mj_resetDataDebug', 'mj_resetDataKeyframe', 'mj_rne', 'mj_rnePostConstraint', 'mj_saveLastXML', 'mj_saveModel', 'mj_sensorAcc', 'mj_sensorPos', 'mj_sensorVel', 'mj_setCacheCapacity', 'mj_setConst', 'mj_setKeyframe', 'mj_setLengthRange', 'mj_setState', 'mj_setTotalmass', 'mj_sizeModel', 'mj_solveM', 'mj_solveM2', 'mj_stateSize', 'mj_step', 'mj_step1', 'mj_step2', 'mj_subtreeVel', 'mj_tendon', 'mj_transmission', 'mj_version', 'mj_versionString', 'mjd_inverseFD', 'mjd_quatIntegrate', 'mjd_subQuat', 'mjd_transitionFD', 'mjrIndexType', 'mjrMeshPrimitiveType', 'mjrPixelFormat', 'mjrVertexAttributeType', 'mjrVertexAttributeUsage', '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', 'mjtAlignFree', 'mjtBias', 'mjtBuiltin', 'mjtButton', 'mjtCTimer', 'mjtCamLight', 'mjtCamOutBit', 'mjtCamera', 'mjtCatBit', 'mjtColorSpace', 'mjtConDataField', 'mjtCone', 'mjtConflict', 'mjtConstraint', 'mjtConstraintState', 'mjtCtrlChart', 'mjtDataType', 'mjtDepthMap', 'mjtDisableBit', 'mjtDyn', 'mjtEnableBit', 'mjtEq', 'mjtEvent', 'mjtFlexSelf', 'mjtFont', 'mjtFontScale', 'mjtFrame', 'mjtFramebuffer', 'mjtGain', 'mjtGeom', 'mjtGeomInertia', 'mjtGridPos', 'mjtInertiaFromGeom', 'mjtIntegrator', 'mjtItem', 'mjtJacobian', 'mjtJoint', 'mjtLRMode', 'mjtLabel', 'mjtLightType', 'mjtLimited', 'mjtLogLevel', 'mjtLogTopic', 'mjtMark', 'mjtMeshBuiltin', 'mjtMeshInertia', 'mjtMouse', 'mjtObj', 'mjtOrientation', 'mjtPertBit', 'mjtPluginCapabilityBit', 'mjtProjection', 'mjtRayDataField', 'mjtRndFlag', 'mjtSDFType', 'mjtSameFrame', 'mjtSection', 'mjtSensor', 'mjtSleepPolicy', 'mjtSleepState', 'mjtSolver', 'mjtStage', 'mjtState', 'mjtStereo', 'mjtTexture', 'mjtTextureRole', 'mjtTimer', 'mjtTrn', 'mjtVisFlag', 'mjtWarning', 'mjtWrap', 'mju_Halton', 'mju_L1', 'mju_add', 'mju_add3', 'mju_addScl', 'mju_addScl3', 'mju_addTo', 'mju_addTo3', 'mju_addToScl', 'mju_addToScl3', 'mju_axisAngle2Quat', 'mju_band2Dense', 'mju_bandDiag', 'mju_bandMulMatVec', 'mju_boxQP', 'mju_cholFactor', 'mju_cholFactorBand', 'mju_cholSolve', 'mju_cholSolveBand', 'mju_cholUpdate', 'mju_clip', 'mju_copy', 'mju_copy3', 'mju_copy4', 'mju_cross', 'mju_d2n', 'mju_decodePyramid', 'mju_dense2Band', 'mju_dense2sparse', 'mju_derivQuat', 'mju_dist3', 'mju_dot', 'mju_dot3', 'mju_eig3', 'mju_encodePyramid', 'mju_euler2Quat', 'mju_eye', 'mju_f2n', 'mju_fill', 'mju_getXMLDependencies', 'mju_insertionSort', 'mju_insertionSortInt', 'mju_isBad', 'mju_isZero', 'mju_mat2Quat', 'mju_mat2Rot', 'mju_max', 'mju_min', 'mju_mulMatMat', 'mju_mulMatMatT', 'mju_mulMatTMat', 'mju_mulMatTVec', 'mju_mulMatTVec3', 'mju_mulMatVec', 'mju_mulMatVec3', 'mju_mulPose', 'mju_mulQuat', 'mju_mulQuatAxis', 'mju_mulVecMatVec', 'mju_muscleBias', 'mju_muscleDynamics', 'mju_muscleGain', 'mju_n2d', 'mju_n2f', 'mju_negPose', 'mju_negQuat', 'mju_norm', 'mju_norm3', 'mju_normalize', 'mju_normalize3', 'mju_normalize4', 'mju_printMat', 'mju_printMatSparse', 'mju_quat2Mat', 'mju_quat2Vel', 'mju_quatIntegrate', 'mju_quatZ2Vec', 'mju_rayGeom', 'mju_raySkin', 'mju_rotVecQuat', 'mju_round', 'mju_scl', 'mju_scl3', 'mju_sigmoid', 'mju_sign', 'mju_sparse2dense', 'mju_springDamper', 'mju_sqrMatTD', 'mju_standardNormal', 'mju_str2Type', 'mju_sub', 'mju_sub3', 'mju_subFrom', 'mju_subFrom3', 'mju_subQuat', 'mju_sum', 'mju_sym2dense', 'mju_symmetrize', 'mju_threadpool', 'mju_transformSpatial', 'mju_transpose', 'mju_trnVecPose', 'mju_type2Str', 'mju_unit4', 'mju_warningText', 'mju_writeLog', 'mju_writeNumBytes', 'mju_zero', 'mju_zero3', 'mju_zero4', 'mjv_addGeoms', 'mjv_alignToCamera', 'mjv_applyPerturbForce', 'mjv_applyPerturbPose', 'mjv_averageCamera', 'mjv_cameraFrame', 'mjv_cameraFrustum', 'mjv_cameraInModel', 'mjv_cameraInRoom', 'mjv_connector', 'mjv_defaultCamera', 'mjv_defaultFigure', 'mjv_defaultFreeCamera', 'mjv_defaultOption', 'mjv_defaultPerturb', 'mjv_frustumHeight', 'mjv_initGeom', 'mjv_initPerturb', 'mjv_makeLights', 'mjv_model2room', 'mjv_moveCamera', 'mjv_moveModel', 'mjv_movePerturb', 'mjv_room2model', 'mjv_select', 'mjv_updateCamera', 'mjv_updateScene', 'mjv_updateSkin', 'np', 'os', 'platform', 'rendering', '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', 'subprocess', 'to_zip', 'warnings', 'zipfile']
|
|
class FatalError(Exception):
|
|
pass
|
|
class UnexpectedError(Exception):
|
|
pass
|
|
class _MjBindData:
|
|
"""
|
|
Wrapper for MjData that allows binding multiple specs.
|
|
"""
|
|
def __getattr__(self, key: str):
|
|
...
|
|
def __init__(self, elements: typing.Sequence[typing.Any]):
|
|
...
|
|
def __setattr__(self, key: str, value: typing.Any):
|
|
...
|
|
class _MjBindModel:
|
|
"""
|
|
Wrapper for MjModel that allows binding multiple specs.
|
|
"""
|
|
def __getattr__(self, key: str):
|
|
...
|
|
def __init__(self, elements: typing.Sequence[typing.Any]):
|
|
...
|
|
def __setattr__(self, key: str, value: typing.Any):
|
|
...
|
|
def _bind_data(data: _structs.MjData, specs: typing.Union[typing.Sequence[typing.Union[mujoco._specs.MjsBody, mujoco._specs.MjsFrame, mujoco._specs.MjsGeom, mujoco._specs.MjsJoint, mujoco._specs.MjsLight, mujoco._specs.MjsMaterial, mujoco._specs.MjsSite, mujoco._specs.MjsMesh, mujoco._specs.MjsSkin, mujoco._specs.MjsTexture, mujoco._specs.MjsText, mujoco._specs.MjsTuple, mujoco._specs.MjsCamera, mujoco._specs.MjsFlex, mujoco._specs.MjsHField, mujoco._specs.MjsKey, mujoco._specs.MjsNumeric, mujoco._specs.MjsPair, mujoco._specs.MjsExclude, mujoco._specs.MjsEquality, mujoco._specs.MjsTendon, mujoco._specs.MjsSensor, mujoco._specs.MjsActuator, mujoco._specs.MjsPlugin]], mujoco._specs.MjsBody, mujoco._specs.MjsFrame, mujoco._specs.MjsGeom, mujoco._specs.MjsJoint, mujoco._specs.MjsLight, mujoco._specs.MjsMaterial, mujoco._specs.MjsSite, mujoco._specs.MjsMesh, mujoco._specs.MjsSkin, mujoco._specs.MjsTexture, mujoco._specs.MjsText, mujoco._specs.MjsTuple, mujoco._specs.MjsCamera, mujoco._specs.MjsFlex, mujoco._specs.MjsHField, mujoco._specs.MjsKey, mujoco._specs.MjsNumeric, mujoco._specs.MjsPair, mujoco._specs.MjsExclude, mujoco._specs.MjsEquality, mujoco._specs.MjsTendon, mujoco._specs.MjsSensor, mujoco._specs.MjsActuator, mujoco._specs.MjsPlugin]):
|
|
"""
|
|
Bind a Mujoco spec to a mjData.
|
|
|
|
Args:
|
|
data: The mjData to bind to.
|
|
specs: The mjSpec elements to use for binding, can be a single element or a
|
|
sequence.
|
|
Returns:
|
|
A MjDataGroupedViews object or a list of the same type.
|
|
"""
|
|
def _bind_model(model: _structs.MjModel, specs: typing.Union[typing.Sequence[typing.Union[mujoco._specs.MjsBody, mujoco._specs.MjsFrame, mujoco._specs.MjsGeom, mujoco._specs.MjsJoint, mujoco._specs.MjsLight, mujoco._specs.MjsMaterial, mujoco._specs.MjsSite, mujoco._specs.MjsMesh, mujoco._specs.MjsSkin, mujoco._specs.MjsTexture, mujoco._specs.MjsText, mujoco._specs.MjsTuple, mujoco._specs.MjsCamera, mujoco._specs.MjsFlex, mujoco._specs.MjsHField, mujoco._specs.MjsKey, mujoco._specs.MjsNumeric, mujoco._specs.MjsPair, mujoco._specs.MjsExclude, mujoco._specs.MjsEquality, mujoco._specs.MjsTendon, mujoco._specs.MjsSensor, mujoco._specs.MjsActuator, mujoco._specs.MjsPlugin]], mujoco._specs.MjsBody, mujoco._specs.MjsFrame, mujoco._specs.MjsGeom, mujoco._specs.MjsJoint, mujoco._specs.MjsLight, mujoco._specs.MjsMaterial, mujoco._specs.MjsSite, mujoco._specs.MjsMesh, mujoco._specs.MjsSkin, mujoco._specs.MjsTexture, mujoco._specs.MjsText, mujoco._specs.MjsTuple, mujoco._specs.MjsCamera, mujoco._specs.MjsFlex, mujoco._specs.MjsHField, mujoco._specs.MjsKey, mujoco._specs.MjsNumeric, mujoco._specs.MjsPair, mujoco._specs.MjsExclude, mujoco._specs.MjsEquality, mujoco._specs.MjsTendon, mujoco._specs.MjsSensor, mujoco._specs.MjsActuator, mujoco._specs.MjsPlugin]):
|
|
"""
|
|
Bind a Mujoco spec to a mjModel.
|
|
|
|
Args:
|
|
model: The mjModel to bind to.
|
|
specs: The mjSpec elements to use for binding, can be a single element or a
|
|
sequence.
|
|
Returns:
|
|
A MjModelGroupedViews object or a list of the same type.
|
|
"""
|
|
def _load_all_bundled_plugins():
|
|
...
|
|
def from_zip(file: typing.Union[str, typing.IO[bytes]]) -> _specs.MjSpec:
|
|
"""
|
|
Reads a zip file and returns an MjSpec.
|
|
|
|
Args:
|
|
file: The path to the file to read from or the file object to read from.
|
|
Returns:
|
|
An MjSpec object.
|
|
"""
|
|
def to_zip(spec: _specs.MjSpec, file: typing.Union[str, typing.IO[bytes]]) -> None:
|
|
"""
|
|
Converts an MjSpec to a zip file.
|
|
|
|
Args:
|
|
spec: The mjSpec to save to a file.
|
|
file: The path to the file to save to or the file object to write to.
|
|
"""
|
|
HEADERS_DIR: str
|
|
MJTNUM_BYTES: int = 8
|
|
MjStruct: typing._UnionGenericAlias # value = typing.Union[mujoco._specs.MjsBody, mujoco._specs.MjsFrame, mujoco._specs.MjsGeom, mujoco._specs.MjsJoint, mujoco._specs.MjsLight, mujoco._specs.MjsMaterial, mujoco._specs.MjsSite, mujoco._specs.MjsMesh, mujoco._specs.MjsSkin, mujoco._specs.MjsTexture, mujoco._specs.MjsText, mujoco._specs.MjsTuple, mujoco._specs.MjsCamera, mujoco._specs.MjsFlex, mujoco._specs.MjsHField, mujoco._specs.MjsKey, mujoco._specs.MjsNumeric, mujoco._specs.MjsPair, mujoco._specs.MjsExclude, mujoco._specs.MjsEquality, mujoco._specs.MjsTendon, mujoco._specs.MjsSensor, mujoco._specs.MjsActuator, mujoco._specs.MjsPlugin]
|
|
PLUGINS_DIR: str
|
|
PLUGIN_HANDLES: list
|
|
_SYSTEM: str
|
|
__version__: str = '3.11.0'
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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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