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"+HH  JJ II II II HH    & & HH  >?DHHNN6,,:: ;>?DHHNN6,,:: ;!]]M  % %m 4+ $--488<'+~~';';'= #G^e   ##33     (> >?DHHNN6,,:: ;>?DHHNN6,,:: ;((  ## #dmm&:&: :"(( HH MM  $--"6"6 6bjj  g$--J 7 7!))4==+?+?ATAT*UVI!$B$'*I 5 5oot}}';';T]]=P=PRS&TUGddAg&GAq!G$aAg&$/0aAg&%01 <=DHHNNQ$678''XX^^a'+"((txx~~.A88>>!,DzzR'59\\ Q 1259ZZ Q 12 / "*  + %N M ) I% %rcNUR5 [R"5 gr>rr terminaterAs r rOffScreenViewer.closeH  r)rr)NF)rrrr__doc__rrrr;rrr7r2rrrrrr __classcell__rs@r rrs8*,      S$Y 3c0M+# !%" Z&4ZZ&:Z& Z&xrrc^\rSrSrSrSSS04SSSSS \S-S \S-S \S \\\44 U4S jjjrSr Sr Sr Sr Sr SrS\S\4SjrSSS\S\4SjrS!SjrS\4SjrSrS rU=r$)" WindowVieweriMz6Class for window rendering in all MuJoCo environments.Nrrrrrr r r r!c>[R"5 SUlSUlSUlSUlSUlSUlSUlSUl SUl SUl SUl SUl SUlSUlSUl[R""[R$"55R&upxUcUS-OUnUcUS-OUn[R("[R*S5 [R,"X4S SS5Ul[R0"UR.5uUlUl[R6"UR.5upUR2S-U - Ul[R:"UR.UR<5 [R>"UR.UR@5 [RB"UR.URD5 [RF"UR.URH5 [JT U]XX4XV5 [RN"S5 g) NFrTz/tmp/frame_%07d.pngg?r^rrLr%)(rinit_button_left_pressed_button_right_pressed _last_mouse_x _last_mouse_y_paused _transparent _contacts_render_every_frame _image_idx _image_path_time_per_render _run_speed _loop_count_advance_by_one_step _hide_menuget_video_modeget_primary_monitorrW window_hintVISIBLE create_windowwindowget_framebuffer_sizer r get_window_size_scaleset_cursor_pos_callback_cursor_pos_callbackset_mouse_button_callback_mouse_button_callbackset_scroll_callback_scroll_callbackset_key_callback _key_callbackrr; swap_interval) r8rrr r r r! monitor_widthmonitor_height window_widthrrs r r;WindowViewer.__init__Ps $)!%*" !#' 0 ($)!(,(;(;  $ $ &) $ & ',m "(.1$F q)(($M "&";";DKK"H DK..t{{; jj3&5  $$T[[$2K2KL &&t{{D4O4OP   d.C.CD dkk4+=+=> eXN 1rcv[R"[RRUR5 gr>)r%rr mjFB_WINDOWr6rAs r r7WindowViewer._set_mujoco_buffers"V22>>IrcD[R"UR5 gr>)rr2rrAs r r2!WindowViewer.make_context_currents !!$++.rc UR(aa[R"5UR:Xa[R"S5 [R"UR5 SUlgg![ a [ S5 gf=f)z Safely frees the OpenGL context and destroys the GLFW window, handling potential issues during interpreter shutdown or resource cleanup. 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Render the 3D scene to the window context - `mujoco.mjr_render()`. 5. Render overlays in the window context - `mujoco.mjr_overlay()`. 6. Swap front and back buffer, https://www.glfw.org/docs/3.3/quick.html. 7. Poll events like mouse clicks or keyboard input. c ">TR5 [R"5nTRcg[R"TR5(a5[R "TR5 [R "5 [R"TR5uTRl TRl [R"TRTRTR[R "5TR"[R$R&R(TR*5 TR,HnTR/U5 M [R0"TRTR*TR25 TR4(dmTR6R95HOunup4[R:"[R<R>UTRUUTR25 MQ [R@"TR5 [RB"5 STRD-S[R"5U- --Tl"g)Ng?rr)#_create_overlaytimerrwindow_should_closer6rrr'r r r%rrrr-r.r+rzrr:r)r#rnrr6rr$r0rr4r5 swap_buffers poll_eventsr) render_startrTrFt1t2r8s r update#WindowViewer.render..updates  "99;L{{"))$++66##DKK0 8<8Q8Q 9 5DMM !5  " "   !!#  **00 --))&1(   dmmTXXtxx @??)-)=)=)?%GXb&&++;;  *@   dkk *    $'$*?*?$?# l*C%D !rFrLrN) rrrropttimesteprrrr$rr#)r8rEs` r rWindowViewer.renders/ b <<,,,,05D- ,,,     7 7%%7!  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DLL HH  1 $ ",,;;DHHMxx""djjoo5&(# & 0 0 > > DNN "t||'?#||+DL DNN "t||'?(,D %DL DJJ  OOs "O DJJ  OOs "O DJJ +/+C+C'CD $ DJJ ((--dkk:1=--dkk:1= hh C  ! !#tT]]DHH E OOD,,t> # O OOq O DJJ !%/DNDHNNDIIOOF--@@ ADHNNDIIOOF--@@ A DJJ $))//1DIIO DJJ "&//1DO DJJ $($5$5 5D    $$QT*c1* $$QT*c1* TZZTZZTZZP P II  djj 0 1Q 6 1 $// ! - +     , NN  "rrglfw.LP__GLFWwindowxposyposcJUR(dUR(dg[R"U[R5[R :H=(d6 [R"U[R 5[R :HnUR(a<U(a[RRO[RRnOgUR(a<U(a[RRO[RRnO[RRn[URU-5UR - n[URU-5UR"- n[R$"U5up[R&"UR(XVU- Xy- UR*UR,5 [URU-5Ul[URU-5Ulgr>)r r rget_keyKEY_LEFT_SHIFTPRESSKEY_RIGHT_SHIFTr%mjtMousemjMOUSE_MOVE_HmjMOUSE_MOVE_VmjMOUSE_ROTATE_HmjMOUSE_ROTATE_V mjMOUSE_ZOOMrr!r r rmjv_moveCamerarr)r+) r8rrprq mod_shiftrLdxdyr r s r r#!WindowViewer._cursor_pos_callback8sy))T-G-G  LL!4!4 5 C H||FD$8$89TZZG   % %..__33   & &00__55  __11F t# $t'9'9 9 t# $t'9'9 911&9  JJU BK488 !t!34 t!34rc[R"U[R5[R:HUl[R"U[R 5[R:HUl[R"U5upV[URU-5Ul [URU-5Ul gr>) rget_mouse_buttonMOUSE_BUTTON_LEFTrur MOUSE_BUTTON_RIGHTr get_cursor_posrr!r r )r8rbuttonactrlxys r r%#WindowViewer._mouse_button_callback\s  ! !&$*@*@ ATZZ O !  ! !&$*A*A Bdjj P """6* q1 q1ry_offsetc[R"UR[RRSSU-UR UR 5 g)Nrg)r%r}rrwr|r)r+)r8rx_offsetrs r r'WindowViewer._scroll_callbackhs= JJ OO ( ( H  HH HH  rc [RRn[RRnUR(aUR USS5 O UR USUR -S5 UR USUR(aSOS5 UR USURRS--S URR-5 UR US UR(aSOS5 UR US UR(aSOS5 URbKUR(dUR US S 5 O&UR USS 5 UR USS5 UR USURRS:XaSOS5 UR USS5 UR S:a3UR"UR S- -nUR USSU-5 OUR USS5 UR USS5 UR USSSUR$- S4-5 [R&S:a7UR US[)UR*R,SS-55 OG[R&S:a3UR US[)UR*R.S-55 UR US[)[1UR*R2URR4R6- 555 UR USSURR4R6-5 g)NrJzRun speed = %.3f x real timez[S]lower, [F]asterzRen[d]er every frameOnOffzSwitch camera (#cams = %d)rLz[Tab] (camera ID = %d)z[C]ontact forcesz T[r]ansparentStopz[Space]StartzAdvance simulation by one stepz [right arrow]zReferenc[e] framesz [H]ide MenurzCap[t]ure framez Saved as %szToggle geomgroup visibilityz0-4FPSz%d%sz3.0.0zSolver iterationsSteprHz%.5f)r% mjtGridPosmjGRID_TOPLEFTmjGRID_BOTTOMLEFTrrMrrrPr+rrrrr-r_rrr __version__rr solver_niter solver_iterroundr>rGrH)r8topleft bottomleftfnames r r=WindowViewer._create_overlayrs##22&&88  # #   Wb" -   .@$   +T5M5MTSX    (DJJOOa,? @ $txx':': : "4dnndRWX /4;L;L4RWX << #<<  &)<  '9=  =  )499??a3G4U  -4 ??Q $$!(;>;R;R*R$S T  Z$**..:Q:Q1QRr)rr r rrrrr r rrrrr!rrr r r)rro)rrrrrrrrr;r7r2rrrrr)rr#r%r'r=rrrs@r rrMs@ !!*,///Tz / d /  /S$Y//bJ/$RhAAAF"5+"538"5@E"5H 2 5 5S5Srrc\rSrSrSrSSSSSS04SSSSS \S-S \S-S \S-S \S \S-S\S-S\\\44Sjjr S\S-4Sjr S\S-4Sjr Sr Sr Srg)MujocoRendereria*This is the MuJoCo renderer manager class for every MuJoCo environment. The class has two main public methods available: - :meth:`render` - Renders the environment in three possible modes: "human", "rgb_array", or "depth_array" - :meth:`close` - Closes all contexts initialized with the renderer Nrrrrrdefault_cam_configr r r r camera_namer!c XXlX l0UlSUlX0lX@lXPlX`lXlUbUb [S5eUSL=(a USLn U (aSnUc@[R"UR[RRU5UlgXplg)aA wrapper for clipping continuous actions within the valid bound. Args: model: MjModel data structure of the MuJoCo simulation data: MjData data structure of the MuJoCo simulation default_cam_config: dictionary with attribute values of the viewer's default camera, https://mujoco.readthedocs.io/en/latest/XMLreference.html?highlight=camera#visual-global width: width of the OpenGL rendering context height: height of the OpenGL rendering context max_geom: maximum number of geometries to render camera_id: The integer camera id from which to render the frame in the MuJoCo simulation camera_name: The string name of the camera from which to render the frame in the MuJoCo simulation. This argument should not be passed if using cameara_id instead and vice versa NzHBoth `camera_id` and `camera_name` cannot be specified at the same time.track)rr_viewersviewerrr r r _voptrr% mj_name2idrv mjOBJ_CAMERAr) r8rrrr r r rrr!no_camera_specifieds r r;MujocoRenderer.__init__s0    "4   #   [%</  *T1Gi46G !K  #..  **DN 'NrrcUS:wa<URb URc"SURSURS35eURUS9nUS;aURXRS9$US:XaUR5$g) aRenders a frame of the simulation in a specific format and camera view. Args: render_mode: The format to render the frame, it can be: "human", "rgb_array", "depth_array", or "rgbd_tuple" Returns: If render_mode is "rgb_array" or "depth_array" it returns a numpy array in the specified format. "rgbd_tuple" returns a tuple of numpy arrays of the form (rgb, depth). "human" render mode does not return anything. humanNz The width: z and height: z6 cannot be `None` when the render_mode is not `human`.)r)rrr)rr)r r _get_viewerrr)r8rrs r rMujocoRenderer.renders ' ! &4;;+B zTZZL dkk]Bxy zB!!k!: D D==[NN=S S G #==? "$rcURRU5UlURcUS:XaR[URUR UR URURUR5UlOgUS;aR[URUR UR URURUR5UlO[SUS35eUR5 URURU'[URR55S:aURR5 UR$)zInitializes and returns a viewer class depending on the render_mode - `WindowViewer` class for "human" render mode - `OffScreenViewer` class for "rgb_array", "depth_array", or "rgbd_tuple" render mode r>rrrzUnexpected mode: z>, expected modes: human, rgb_array, depth_array, or rgbd_tuplerL)rrdrrrrr r r rrr7_set_cam_configlenrr2)r8rs r rMujocoRenderer._get_viewers mm'' 4 ;; g%*JJIIJJKKMMJJ   JJ-JJIIJJKKMMJJ  %' }4rs  ")-DMM+ & t}}!!# $q ( KK , , .{{rcLURceURbURR5Hiup[U[R 5(a%U[ URRU5SS&MI[URRX5 Mk gg)z!Set the default camera parametersN) rrr0rrgrrr+r)r8rr:s r rMujocoRenderer._set_cam_config(sz{{&&&  " " ."55;;= eRZZ007 /rcjURR5HupUR5 M g)z7Close the OpenGL rendering contexts of all viewer modesN)rr0r)r8rrs r rMujocoRenderer.close2s$,,.IA LLN/r) rrrrrr r rrr )rrrrrrrrrr;rrrrrrrr rrs+/ ! $"&*,4'4'4'!4K 4' Tz 4' d 4'4':4'4Z4'S$Y4'l#4Z#0%sTz%N9rr)rr>rrWr%numpyrgpackaging.versionrgymnasium.loggerrrrbr rrrrrrrrrr rs  %! %V%7%7877;KK$ $ $  @"@"F\j\~ZS:ZSz KKr