Saran Tunyasuvunakool
a07ae6f849
Introduce a new header `gil.h` defining `MutexLockIfGilDisabled` to support thread-safety in both standard and free-threaded CPython builds. Protect critical shared states and registries: - Guard global Python callback pointers in `callbacks.cc` using a mutex. Move `gil_scoped_acquire` into local blocks around refcount modifications to prevent `longjmp` from bypassing destructors. - Protect raw pointer maps in `structs_wrappers.cc` with static mutexes. - Replace TOCTOU race in `mjcb_time` initialization with thread-safe `std::call_once`. - Add synchronization to lazy indexer array cache initialization in `indexers.cc` and `indexer_xmacro.h`. - Protect vector mutations in `StructListBase::PopulateUpTo` in `structs.h` with a mutex. - Revert unnecessary atomic changes to threadpool counters. - Declare free-threading compatibility by passing `pybind11::mod_gil_not_used()` to all extension modules. Fixes #3259 Fixes #3256 Fixes #2978 PiperOrigin-RevId: 941101502 Change-Id: Iec4ce58afcbc75d4b0be6a9a21fc8a47854242e3
427 lines
16 KiB
C++
427 lines
16 KiB
C++
// Copyright 2026 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// https://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// Python bindings for MuJoCo platform UX components.
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#include <array>
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#include <string>
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#include <tuple>
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#include <vector>
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#include <imgui.h>
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#include <mujoco/mujoco.h>
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#include <mujoco/experimental/platform/helpers.h>
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#include <mujoco/experimental/platform/sim/step_control.h>
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#include <mujoco/experimental/platform/ux/gui.h>
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#include <mujoco/experimental/platform/ux/interaction.h>
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#include "structs.h"
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#include <pybind11/pybind11.h>
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#include <pybind11/stl.h>
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namespace py = pybind11;
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struct UxState {
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// Read/edited by step_control_gui
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int speed_index = 0;
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// Read/edited by state_gui
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std::vector<mjtNum> state;
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int state_sig = 0;
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// Read/edited by watch_gui
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char watch_field_name[256] = {0};
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int watch_field_index = 0;
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// Read/edited by camera_selection_gui
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int camera_index = mujoco::platform::kTumbleCameraIdx;
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};
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struct RenderFlags {
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std::array<uint8_t, mjNRNDFLAG> flags = {0};
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};
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PYBIND11_MODULE(ux, m, pybind11::mod_gil_not_used()) {
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py::module_::import("mujoco._structs");
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py::class_<RenderFlags>(m, "RenderFlags")
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.def(py::init<>())
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.def_readwrite("flags", &RenderFlags::flags);
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m.doc() = "MuJoCo platform UX components.";
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py::enum_<mujoco::platform::GuiTheme>(m, "GuiTheme")
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.value("LIGHT", mujoco::platform::GuiTheme::kLight)
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.value("DARK", mujoco::platform::GuiTheme::kDark)
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.value("CLASSIC", mujoco::platform::GuiTheme::kClassic);
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py::class_<UxState>(m, "UxState")
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.def(py::init<>())
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.def_readwrite("speed_index", &UxState::speed_index)
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.def_readwrite("state", &UxState::state)
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.def_readwrite("state_sig", &UxState::state_sig)
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.def_readwrite("watch_field_index", &UxState::watch_field_index)
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.def_readwrite("camera_index", &UxState::camera_index)
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.def_property(
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"watch_field_name",
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[](const UxState& self) {
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return std::string(self.watch_field_name);
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},
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[](UxState& self, const std::string& val) {
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std::snprintf(self.watch_field_name, sizeof(self.watch_field_name),
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"%s", val.c_str());
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});
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m.def(
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"setup_theme",
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[](mujoco::platform::GuiTheme theme) {
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py::gil_scoped_release no_gil;
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mujoco::platform::SetupTheme(theme);
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},
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py::arg("theme"), "Set up Dear ImGui visual theme.");
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m.def(
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"set_imgui_context",
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[](intptr_t ptr) {
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ImGui::SetCurrentContext(reinterpret_cast<ImGuiContext*>(ptr));
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},
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py::arg("ptr"), "Set ImGui context pointer.");
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m.def(
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"configure_docking_layout",
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[]() {
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py::gil_scoped_release no_gil;
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ImVec4 r = mujoco::platform::ConfigureDockingLayout(true, true);
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return std::make_tuple(r.x, r.y, r.z, r.w);
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},
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"Configure the docking layout with Options (left) and Inspector (right) "
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"panes. Returns (x, y, w, h) of the central workspace area.");
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m.def(
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"step_control_gui",
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[](mujoco::platform::StepControl* step_control, UxState& ux_state) {
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py::gil_scoped_release no_gil;
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mujoco::platform::StepControlGui(step_control, ux_state.speed_index);
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},
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py::arg("step_control"), py::arg("ux_state"),
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"Render the simulation stepping control GUI. Modifies "
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"ux_state.speed_index.");
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m.def(
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"theme_select_gui",
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[](mujoco::platform::GuiTheme theme) {
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py::gil_scoped_release no_gil;
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bool changed = mujoco::platform::ThemeSelectGui(&theme);
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return std::make_tuple(changed, theme);
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},
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py::arg("theme"),
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"Render the GUI theme selector. Returns (changed, theme).");
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m.def(
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"label_selection_gui",
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[](mujoco::python::MjvOptionWrapper& vis_options) {
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py::gil_scoped_release no_gil;
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return mujoco::platform::LabelSelectionGui(vis_options.get());
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},
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py::arg("vis_options"), "Render the visualization label selection GUI.");
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m.def(
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"frame_selection_gui",
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[](mujoco::python::MjvOptionWrapper& vis_options) {
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py::gil_scoped_release no_gil;
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return mujoco::platform::FrameSelectionGui(vis_options.get());
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},
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py::arg("vis_options"), "Render the visualization frame selection GUI.");
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m.def(
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"camera_selection_gui",
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[](const mujoco::python::MjModelWrapper& model,
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mujoco::python::MjDataWrapper& data,
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mujoco::python::MjvCameraWrapper& camera, UxState& ux_state) {
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py::gil_scoped_release no_gil;
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bool changed = mujoco::platform::CameraSelectionGui(
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model.get(), data.get(), *camera.get(), ux_state.camera_index);
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return changed;
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},
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py::arg("model"), py::arg("data"), py::arg("camera"), py::arg("ux_state"),
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"Render the camera selection GUI. Modifies ux_state.camera_index. "
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"Returns true if camera changed.");
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m.def(
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"set_camera",
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[](const mujoco::python::MjModelWrapper& model,
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mujoco::python::MjvCameraWrapper& camera, int request_idx) {
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py::gil_scoped_release no_gil;
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return mujoco::platform::SetCamera(model.get(), camera.get(),
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request_idx);
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},
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py::arg("model"), py::arg("camera"), py::arg("request_idx"),
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"Set the camera index and update the camera object.");
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m.def(
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"set_speed_index",
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[](mujoco::platform::StepControl* step_control, int speed_index,
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int request_idx) {
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{
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py::gil_scoped_release no_gil;
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mujoco::platform::SetSpeedIndex(step_control, speed_index,
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request_idx);
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}
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return speed_index;
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},
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py::arg("step_control"), py::arg("speed_index"), py::arg("request_idx"),
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"Set the simulation speed index. Returns new_speed_index.");
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m.def(
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"physics_gui",
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[](mujoco::python::MjModelWrapper& model, float min_width) {
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py::gil_scoped_release no_gil;
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mujoco::platform::PhysicsGui(model.get(), min_width);
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},
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py::arg("model"), py::arg("min_width") = 150.0f,
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"Render the physics settings UI.");
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m.def(
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"rendering_gui",
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[](const mujoco::python::MjModelWrapper& model,
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mujoco::python::MjvOptionWrapper& vis_options,
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RenderFlags& render_flags) {
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py::gil_scoped_release no_gil;
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mjtByte flags[mjNRNDFLAG] = {0};
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for (int i = 0; i < mjNRNDFLAG; ++i) {
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flags[i] = render_flags.flags[i];
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}
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mujoco::platform::RenderingGui(model.get(), vis_options.get(), flags,
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150.0f);
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for (int i = 0; i < mjNRNDFLAG; ++i) {
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render_flags.flags[i] = flags[i];
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}
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},
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py::arg("model"), py::arg("vis_options"), py::arg("render_flags"),
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"Render the rendering settings UI. Modifies render_flags in place.");
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m.def(
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"groups_gui",
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[](const mujoco::python::MjModelWrapper& model,
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mujoco::python::MjvOptionWrapper& vis_options, float min_width) {
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py::gil_scoped_release no_gil;
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mujoco::platform::GroupsGui(model.get(), vis_options.get(), min_width);
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},
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py::arg("model"), py::arg("vis_options"), py::arg("min_width") = 150.0f,
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"Render the visibility groups UI.");
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m.def(
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"visualization_gui",
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[](mujoco::python::MjModelWrapper& model,
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mujoco::python::MjvOptionWrapper& vis_options,
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mujoco::python::MjvCameraWrapper& camera, float min_width) {
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py::gil_scoped_release no_gil;
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mujoco::platform::VisualizationGui(model.get(), vis_options.get(),
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camera.get(), min_width);
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},
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py::arg("model"), py::arg("vis_options"), py::arg("camera"),
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py::arg("min_width") = 150.0f, "Render the visualization settings UI.");
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m.def(
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"controls_gui",
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[](const mujoco::python::MjModelWrapper& model,
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mujoco::python::MjDataWrapper& data,
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mujoco::python::MjvOptionWrapper& vis_options) {
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py::gil_scoped_release no_gil;
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mujoco::platform::ControlsGui(model.get(), data.get(),
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vis_options.get());
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},
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py::arg("model"), py::arg("data"), py::arg("vis_options"),
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"Render the actuator controls UI.");
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m.def(
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"joints_gui",
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[](const mujoco::python::MjModelWrapper& model,
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mujoco::python::MjDataWrapper& data,
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mujoco::python::MjvOptionWrapper& vis_options) {
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py::gil_scoped_release no_gil;
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mujoco::platform::JointsGui(model.get(), data.get(), vis_options.get());
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},
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py::arg("model"), py::arg("data"), py::arg("vis_options"),
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"Render the joints UI.");
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m.def(
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"sensor_gui",
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[](const mujoco::python::MjModelWrapper& model,
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mujoco::python::MjDataWrapper& data) {
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py::gil_scoped_release no_gil;
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mujoco::platform::SensorGui(model.get(), data.get());
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},
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py::arg("model"), py::arg("data"), "Render the sensor data plot.");
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m.def(
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"state_gui",
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[](const mujoco::python::MjModelWrapper& model,
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mujoco::python::MjDataWrapper& data, UxState& ux_state,
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float min_width) {
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py::gil_scoped_release no_gil;
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mujoco::platform::StateGui(model.get(), data.get(), ux_state.state,
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ux_state.state_sig, min_width);
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},
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py::arg("model"), py::arg("data"), py::arg("ux_state"),
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py::arg("min_width") = 150.0f,
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"Render the state UI. Modifies ux_state.state and ux_state.state_sig.");
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m.def(
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"watch_gui",
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[](const mujoco::python::MjModelWrapper& model,
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mujoco::python::MjDataWrapper& data, UxState& ux_state) {
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py::gil_scoped_release no_gil;
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mujoco::platform::WatchGui(
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model.get(), data.get(), ux_state.watch_field_name,
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sizeof(ux_state.watch_field_name), ux_state.watch_field_index);
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},
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py::arg("model"), py::arg("data"), py::arg("ux_state"),
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"Render the watch UI. Modifies ux_state.watch_field_name and "
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"ux_state.watch_field_index.");
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m.def(
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"noise_gui",
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[](mujoco::platform::StepControl* step_control) {
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py::gil_scoped_release no_gil;
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mujoco::platform::NoiseGui(step_control);
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},
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py::arg("step_control"), "Render the noise UI.");
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m.def(
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"convergence_gui",
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[](const mujoco::python::MjModelWrapper& model,
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mujoco::python::MjDataWrapper& data) {
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py::gil_scoped_release no_gil;
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mujoco::platform::ConvergenceGui(model.get(), data.get());
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},
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py::arg("model"), py::arg("data"),
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"Render the solver convergence chart.");
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m.def(
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"counts_gui",
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[](const mujoco::python::MjModelWrapper& model,
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mujoco::python::MjDataWrapper& data) {
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py::gil_scoped_release no_gil;
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mujoco::platform::CountsGui(model.get(), data.get());
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},
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py::arg("model"), py::arg("data"), "Render the solver counts chart.");
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m.def(
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"info_gui",
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[](const mujoco::python::MjModelWrapper& model,
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mujoco::python::MjDataWrapper& data, bool paused, float fps) {
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py::gil_scoped_release no_gil;
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mujoco::platform::InfoGui(model.get(), data.get(), paused, fps);
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},
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py::arg("model"), py::arg("data"), py::arg("paused"), py::arg("fps"),
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"Render the simulation info UI.");
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m.attr("FREE_CAMERA_IDX") = mujoco::platform::kFreeCameraIdx;
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m.attr("TUMBLE_CAMERA_IDX") = mujoco::platform::kTumbleCameraIdx;
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m.attr("TRACKING_CAMERA_IDX") = mujoco::platform::kTrackingCameraIdx;
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py::enum_<mujoco::platform::CameraMotion>(m, "CameraMotion")
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.value("ZOOM", mujoco::platform::CameraMotion::ZOOM)
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.value("ORBIT", mujoco::platform::CameraMotion::ORBIT)
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.value("TRUCK_PEDESTAL", mujoco::platform::CameraMotion::TRUCK_PEDESTAL)
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.value("TRUCK_DOLLY", mujoco::platform::CameraMotion::TRUCK_DOLLY)
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.value("PAN_TILT", mujoco::platform::CameraMotion::PAN_TILT)
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.value("PLANAR_MOVE_H", mujoco::platform::CameraMotion::PLANAR_MOVE_H)
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.value("PLANAR_MOVE_V", mujoco::platform::CameraMotion::PLANAR_MOVE_V)
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.export_values();
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m.def(
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"MoveCamera",
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[](const mujoco::python::MjModelWrapper& model,
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const mujoco::python::MjDataWrapper& data,
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mujoco::python::MjvCameraWrapper& cam,
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mujoco::platform::CameraMotion motion, mjtNum dx, mjtNum dy) {
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py::gil_scoped_release no_gil;
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mujoco::platform::MoveCamera(model.get(), data.get(), cam.get(), motion,
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dx, dy);
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},
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py::arg("model"), py::arg("data"), py::arg("cam"), py::arg("motion"),
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py::arg("dx"), py::arg("dy"), "Moves the given camera.");
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m.def(
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"InitPerturb",
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[](const mujoco::python::MjModelWrapper& model,
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const mujoco::python::MjDataWrapper& data,
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const mujoco::python::MjvCameraWrapper& cam,
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mujoco::python::MjvPerturbWrapper& pert, int active) {
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py::gil_scoped_release no_gil;
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mujoco::platform::InitPerturb(model.get(), data.get(), cam.get(),
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pert.get(),
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static_cast<mjtPertBit>(active));
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},
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py::arg("model"), py::arg("data"), py::arg("cam"), py::arg("pert"),
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py::arg("active"), "Initializes mouse perturbation.");
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m.def(
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"MovePerturb",
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[](const mujoco::python::MjModelWrapper& model,
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const mujoco::python::MjDataWrapper& data,
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const mujoco::python::MjvCameraWrapper& cam,
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mujoco::python::MjvPerturbWrapper& pert, int action, mjtNum reldx,
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mjtNum reldy) {
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py::gil_scoped_release no_gil;
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mujoco::platform::MovePerturb(model.get(), data.get(), cam.get(),
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pert.get(), static_cast<mjtMouse>(action),
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reldx, reldy);
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},
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py::arg("model"), py::arg("data"), py::arg("cam"), py::arg("pert"),
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py::arg("action"), py::arg("reldx"), py::arg("reldy"),
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"Moves mouse perturbation.");
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py::class_<mujoco::platform::PickResult>(m, "PickResult")
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.def_readwrite("dist", &mujoco::platform::PickResult::dist)
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.def_readwrite("body", &mujoco::platform::PickResult::body)
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.def_readwrite("geom", &mujoco::platform::PickResult::geom)
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.def_readwrite("flex", &mujoco::platform::PickResult::flex)
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.def_readwrite("skin", &mujoco::platform::PickResult::skin)
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.def_property(
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"point",
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[](const mujoco::platform::PickResult& res) {
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return py::make_tuple(res.point[0], res.point[1], res.point[2]);
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},
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[](mujoco::platform::PickResult& res, const py::tuple& t) {
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res.point[0] = t[0].cast<mjtNum>();
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res.point[1] = t[1].cast<mjtNum>();
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res.point[2] = t[2].cast<mjtNum>();
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});
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m.def(
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"Pick",
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[](const mujoco::python::MjModelWrapper& model,
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const mujoco::python::MjDataWrapper& data,
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const mujoco::python::MjvCameraWrapper& cam, float x, float y,
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float aspect_ratio, const mujoco::python::MjvOptionWrapper& opt) {
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py::gil_scoped_release no_gil;
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return mujoco::platform::Pick(model.get(), data.get(), cam.get(), x, y,
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aspect_ratio, opt.get());
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},
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py::arg("model"), py::arg("data"), py::arg("cam"), py::arg("x"),
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py::arg("y"), py::arg("aspect_ratio"), py::arg("opt"),
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"Picks object under cursor.");
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m.def(
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"camera_to_string",
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[](const mujoco::python::MjDataWrapper& data,
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const mujoco::python::MjvCameraWrapper& camera) {
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py::gil_scoped_release no_gil;
|
|
return mujoco::platform::CameraToString(data.get(), camera.get());
|
|
},
|
|
py::arg("data"), py::arg("camera"),
|
|
"Returns an XML string representation of the camera.");
|
|
}
|