Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

introspect/enums.py

@@ -51,7 +51,7 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjENBL_ENERGY', 2),
              ('mjENBL_FWDINV', 4),
              ('mjENBL_SENSORNOISE', 8),
-             ('mjENBL_MULTICCD', 1073741824),
+             ('mjENBL_MULTICCD', 16),
              ('mjNENABLE', 5),
          ]),
      )),

introspect/enums_test.py

@@ -42,7 +42,7 @@ class EnumsTest(absltest.TestCase):
                                           ('mjENBL_ENERGY', 1<<1),
                                           ('mjENBL_FWDINV', 1<<2),
                                           ('mjENBL_SENSORNOISE', 1<<3),
-                                          ('mjENBL_MULTICCD', 1<<30),
+                                          ('mjENBL_MULTICCD', 1<<4),
                                           ('mjNENABLE', 5)))
 
   # values mostly increment by one with occasional overrides

introspect/functions.py

@@ -998,7 +998,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Compute actuator force qfrc_actuation.',
+         doc='Compute actuator force qfrc_actuator.',
      )),
     ('mj_fwdAcceleration',
      FunctionDecl(
@@ -5895,7 +5895,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Muiltiply quaternions.',
+         doc='Multiply quaternions.',
      )),
     ('mju_mulQuatAxis',
      FunctionDecl(
@@ -5924,7 +5924,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Muiltiply quaternion and axis.',
+         doc='Multiply quaternion and axis.',
      )),
     ('mju_axisAngle2Quat',
      FunctionDecl(