Merge branch 'main' into dev

Author: Jacopo-DM

.typings/mujoco/_enums.pyi

@@ -1,17 +1,15 @@
 import mujoco._structs
 import numpy
-import numpy.typing
-import typing
 from typing import overload
 
 class MjrContext:
-    auxColor: numpy.typing.NDArray[numpy.uint32]
-    auxColor_r: numpy.typing.NDArray[numpy.uint32]
-    auxFBO: numpy.typing.NDArray[numpy.uint32]
-    auxFBO_r: numpy.typing.NDArray[numpy.uint32]
-    auxHeight: numpy.typing.NDArray[numpy.int32]
-    auxSamples: numpy.typing.NDArray[numpy.int32]
-    auxWidth: numpy.typing.NDArray[numpy.int32]
+    auxColor: numpy.ndarray[numpy.uint32]
+    auxColor_r: numpy.ndarray[numpy.uint32]
+    auxFBO: numpy.ndarray[numpy.uint32]
+    auxFBO_r: numpy.ndarray[numpy.uint32]
+    auxHeight: numpy.ndarray[numpy.int32]
+    auxSamples: numpy.ndarray[numpy.int32]
+    auxWidth: numpy.ndarray[numpy.int32]
     baseBuiltin: int
     baseFontBig: int
     baseFontNormal: int
@@ -21,18 +19,18 @@ class MjrContext:
     basePlane: int
     charHeight: int
     charHeightBig: int
-    charWidth: numpy.typing.NDArray[numpy.int32]
-    charWidthBig: numpy.typing.NDArray[numpy.int32]
+    charWidth: numpy.ndarray[numpy.int32]
+    charWidthBig: numpy.ndarray[numpy.int32]
     currentBuffer: int
     fogEnd: float
-    fogRGBA: numpy.typing.NDArray[numpy.float32]
+    fogRGBA: numpy.ndarray[numpy.float32]
     fogStart: float
     fontScale: int
     glInitialized: int
     lineWidth: float
-    mat_texid: numpy.typing.NDArray[numpy.int32]
-    mat_texrepeat: numpy.typing.NDArray[numpy.float32]
-    mat_texuniform: numpy.typing.NDArray[numpy.int32]
+    mat_texid: numpy.ndarray[numpy.int32]
+    mat_texrepeat: numpy.ndarray[numpy.float32]
+    mat_texuniform: numpy.ndarray[numpy.int32]
     ntexture: int
     offColor: int
     offColor_r: int
@@ -55,8 +53,8 @@ class MjrContext:
     shadowScale: float
     shadowSize: int
     shadowTex: int
-    texture: numpy.typing.NDArray[numpy.uint32]
-    textureType: numpy.typing.NDArray[numpy.int32]
+    texture: numpy.ndarray[numpy.uint32]
+    textureType: numpy.ndarray[numpy.int32]
     windowAvailable: int
     windowDoublebuffer: int
     windowSamples: int
@@ -68,16 +66,16 @@ class MjrContext:
 
         1. __init__(self: mujoco._render.MjrContext) -> None
 
-        2. __init__(self: mujoco._render.MjrContext, arg0: mujoco._structs.MjModel, arg1: typing.SupportsInt) -> None
+        2. __init__(self: mujoco._render.MjrContext, arg0: mujoco._structs.MjModel, arg1: int) -> None
         """
     @overload
-    def __init__(self, arg0: mujoco._structs.MjModel, arg1: typing.SupportsInt) -> None:
+    def __init__(self, arg0: mujoco._structs.MjModel, arg1: int) -> None:
         """__init__(*args, **kwargs)
         Overloaded function.
 
         1. __init__(self: mujoco._render.MjrContext) -> None
 
-        2. __init__(self: mujoco._render.MjrContext, arg0: mujoco._structs.MjModel, arg1: typing.SupportsInt) -> None
+        2. __init__(self: mujoco._render.MjrContext, arg0: mujoco._structs.MjModel, arg1: int) -> None
         """
     def _pybind11_conduit_v1_(self, *args, **kwargs): ...
     def free(self) -> None:
@@ -86,28 +84,23 @@ class MjrContext:
         Frees resources in current active OpenGL context, sets struct to default.
         """
     @property
-    def nskin(self) -> int:
-        """(arg0: mujoco._render.MjrContext) -> int"""
+    def nskin(self) -> int: ...
     @property
-    def skinfaceVBO(self) -> tuple:
-        """(arg0: mujoco._render.MjrContext) -> tuple"""
+    def skinfaceVBO(self) -> tuple: ...
     @property
-    def skinnormalVBO(self) -> tuple:
-        """(arg0: mujoco._render.MjrContext) -> tuple"""
+    def skinnormalVBO(self) -> tuple: ...
     @property
-    def skintexcoordVBO(self) -> tuple:
-        """(arg0: mujoco._render.MjrContext) -> tuple"""
+    def skintexcoordVBO(self) -> tuple: ...
     @property
-    def skinvertVBO(self) -> tuple:
-        """(arg0: mujoco._render.MjrContext) -> tuple"""
+    def skinvertVBO(self) -> tuple: ...
 
 class MjrRect:
     bottom: int
     height: int
     left: int
     width: int
-    def __init__(self, left: typing.SupportsInt, bottom: typing.SupportsInt, width: typing.SupportsInt, height: typing.SupportsInt) -> None:
-        """__init__(self: mujoco._render.MjrRect, left: typing.SupportsInt, bottom: typing.SupportsInt, width: typing.SupportsInt, height: typing.SupportsInt) -> None"""
+    def __init__(self, left: int, bottom: int, width: int, height: int) -> None:
+        """__init__(self: mujoco._render.MjrRect, left: int, bottom: int, width: int, height: int) -> None"""
     def _pybind11_conduit_v1_(self, *args, **kwargs): ...
     def __copy__(self) -> MjrRect:
         """__copy__(self: mujoco._render.MjrRect) -> mujoco._render.MjrRect"""
@@ -116,38 +109,38 @@ class MjrRect:
     def __eq__(self, arg0: object) -> bool:
         """__eq__(self: object, arg0: object) -> bool"""
 
-def mjr_addAux(index: typing.SupportsInt, width: typing.SupportsInt, height: typing.SupportsInt, samples: typing.SupportsInt, con: MjrContext) -> None:
-    """mjr_addAux(index: typing.SupportsInt, width: typing.SupportsInt, height: typing.SupportsInt, samples: typing.SupportsInt, con: mujoco._render.MjrContext) -> None
+def mjr_addAux(index: int, width: int, height: int, samples: int, con: MjrContext) -> None:
+    """mjr_addAux(index: int, width: int, height: int, samples: int, con: mujoco._render.MjrContext) -> None
 
     Add Aux buffer with given index to context; free previous Aux buffer.
     """
-def mjr_blitAux(index: typing.SupportsInt, src: MjrRect, left: typing.SupportsInt, bottom: typing.SupportsInt, con: MjrContext) -> None:
-    """mjr_blitAux(index: typing.SupportsInt, src: mujoco._render.MjrRect, left: typing.SupportsInt, bottom: typing.SupportsInt, con: mujoco._render.MjrContext) -> None
+def mjr_blitAux(index: int, src: MjrRect, left: int, bottom: int, con: MjrContext) -> None:
+    """mjr_blitAux(index: int, src: mujoco._render.MjrRect, left: int, bottom: int, con: mujoco._render.MjrContext) -> None
 
     Blit from Aux buffer to con->currentBuffer.
     """
-def mjr_blitBuffer(src: MjrRect, dst: MjrRect, flg_color: typing.SupportsInt, flg_depth: typing.SupportsInt, con: MjrContext) -> None:
-    """mjr_blitBuffer(src: mujoco._render.MjrRect, dst: mujoco._render.MjrRect, flg_color: typing.SupportsInt, flg_depth: typing.SupportsInt, con: mujoco._render.MjrContext) -> None
+def mjr_blitBuffer(src: MjrRect, dst: MjrRect, flg_color: int, flg_depth: int, con: MjrContext) -> None:
+    """mjr_blitBuffer(src: mujoco._render.MjrRect, dst: mujoco._render.MjrRect, flg_color: int, flg_depth: int, con: mujoco._render.MjrContext) -> None
 
     Blit from src viewpoint in current framebuffer to dst viewport in other framebuffer. If src, dst have different size and flg_depth==0, color is interpolated with GL_LINEAR.
     """
-def mjr_changeFont(fontscale: typing.SupportsInt, con: MjrContext) -> None:
-    """mjr_changeFont(fontscale: typing.SupportsInt, con: mujoco._render.MjrContext) -> None
+def mjr_changeFont(fontscale: int, con: MjrContext) -> None:
+    """mjr_changeFont(fontscale: int, con: mujoco._render.MjrContext) -> None
 
     Change font of existing context.
     """
-def mjr_drawPixels(rgb: typing.Annotated[numpy.typing.NDArray[numpy.uint8], '[m, 1]'] | None, depth: typing.Annotated[numpy.typing.NDArray[numpy.float32], '[m, 1]'] | None, viewport: MjrRect, con: MjrContext) -> None:
-    '''mjr_drawPixels(rgb: typing.Annotated[numpy.typing.NDArray[numpy.uint8], "[m, 1]"] | None, depth: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[m, 1]"] | None, viewport: mujoco._render.MjrRect, con: mujoco._render.MjrContext) -> None
+def mjr_drawPixels(rgb: numpy.ndarray[numpy.uint8[m, 1]] | None, depth: numpy.ndarray[numpy.float32[m, 1]] | None, viewport: MjrRect, con: MjrContext) -> None:
+    """mjr_drawPixels(rgb: Optional[numpy.ndarray[numpy.uint8[m, 1]]], depth: Optional[numpy.ndarray[numpy.float32[m, 1]]], viewport: mujoco._render.MjrRect, con: mujoco._render.MjrContext) -> None
 
     Draw pixels from client buffer to current OpenGL framebuffer. Viewport is in OpenGL framebuffer; client buffer starts at (0,0).
-    '''
+    """
 def mjr_figure(viewport: MjrRect, fig: mujoco._structs.MjvFigure, con: MjrContext) -> None:
     """mjr_figure(viewport: mujoco._render.MjrRect, fig: mujoco._structs.MjvFigure, con: mujoco._render.MjrContext) -> None
 
     Draw 2D figure.
     """
-def mjr_findRect(x: typing.SupportsInt, y: typing.SupportsInt, nrect: typing.SupportsInt, rect: MjrRect) -> int:
-    """mjr_findRect(x: typing.SupportsInt, y: typing.SupportsInt, nrect: typing.SupportsInt, rect: mujoco._render.MjrRect) -> int
+def mjr_findRect(x: int, y: int, nrect: int, rect: MjrRect) -> int:
+    """mjr_findRect(x: int, y: int, nrect: int, rect: mujoco._render.MjrRect) -> int
 
     Find first rectangle containing mouse, -1: not found.
     """
@@ -161,8 +154,8 @@ def mjr_getError() -> int:
 
     Call glGetError and return result.
     """
-def mjr_label(viewport: MjrRect, font: typing.SupportsInt, txt: str, r: typing.SupportsFloat, g: typing.SupportsFloat, b: typing.SupportsFloat, a: typing.SupportsFloat, rt: typing.SupportsFloat, gt: typing.SupportsFloat, bt: typing.SupportsFloat, con: MjrContext) -> None:
-    """mjr_label(viewport: mujoco._render.MjrRect, font: typing.SupportsInt, txt: str, r: typing.SupportsFloat, g: typing.SupportsFloat, b: typing.SupportsFloat, a: typing.SupportsFloat, rt: typing.SupportsFloat, gt: typing.SupportsFloat, bt: typing.SupportsFloat, con: mujoco._render.MjrContext) -> None
+def mjr_label(viewport: MjrRect, font: int, txt: str, r: float, g: float, b: float, a: float, rt: float, gt: float, bt: float, con: MjrContext) -> None:
+    """mjr_label(viewport: mujoco._render.MjrRect, font: int, txt: str, r: float, g: float, b: float, a: float, rt: float, gt: float, bt: float, con: mujoco._render.MjrContext) -> None
 
     Draw rectangle with centered text.
     """
@@ -171,18 +164,18 @@ def mjr_maxViewport(con: MjrContext) -> MjrRect:
 
     Get maximum viewport for active buffer.
     """
-def mjr_overlay(font: typing.SupportsInt, gridpos: typing.SupportsInt, viewport: MjrRect, overlay: str, overlay2: str, con: MjrContext) -> None:
-    """mjr_overlay(font: typing.SupportsInt, gridpos: typing.SupportsInt, viewport: mujoco._render.MjrRect, overlay: str, overlay2: str, con: mujoco._render.MjrContext) -> None
+def mjr_overlay(font: int, gridpos: int, viewport: MjrRect, overlay: str, overlay2: str, con: MjrContext) -> None:
+    """mjr_overlay(font: int, gridpos: int, viewport: mujoco._render.MjrRect, overlay: str, overlay2: str, con: mujoco._render.MjrContext) -> None
 
     Draw text overlay; font is mjtFont; gridpos is mjtGridPos.
     """
-def mjr_readPixels(rgb: typing.Annotated[numpy.typing.ArrayLike, numpy.uint8] | None, depth: typing.Annotated[numpy.typing.ArrayLike, numpy.float32] | None, viewport: MjrRect, con: MjrContext) -> None:
-    """mjr_readPixels(rgb: typing.Annotated[numpy.typing.ArrayLike, numpy.uint8] | None, depth: typing.Annotated[numpy.typing.ArrayLike, numpy.float32] | None, viewport: mujoco._render.MjrRect, con: mujoco._render.MjrContext) -> None
+def mjr_readPixels(rgb: numpy.ndarray[numpy.uint8] | None, depth: numpy.ndarray[numpy.float32] | None, viewport: MjrRect, con: MjrContext) -> None:
+    """mjr_readPixels(rgb: Optional[numpy.ndarray[numpy.uint8]], depth: Optional[numpy.ndarray[numpy.float32]], viewport: mujoco._render.MjrRect, con: mujoco._render.MjrContext) -> None
 
     Read pixels from current OpenGL framebuffer to client buffer. Viewport is in OpenGL framebuffer; client buffer starts at (0,0).
     """
-def mjr_rectangle(viewport: MjrRect, r: typing.SupportsFloat, g: typing.SupportsFloat, b: typing.SupportsFloat, a: typing.SupportsFloat) -> None:
-    """mjr_rectangle(viewport: mujoco._render.MjrRect, r: typing.SupportsFloat, g: typing.SupportsFloat, b: typing.SupportsFloat, a: typing.SupportsFloat) -> None
+def mjr_rectangle(viewport: MjrRect, r: float, g: float, b: float, a: float) -> None:
+    """mjr_rectangle(viewport: mujoco._render.MjrRect, r: float, g: float, b: float, a: float) -> None
 
     Draw rectangle.
     """
@@ -191,8 +184,8 @@ def mjr_render(viewport: MjrRect, scn: mujoco._structs.MjvScene, con: MjrContext
 
     Render 3D scene.
     """
-def mjr_resizeOffscreen(width: typing.SupportsInt, height: typing.SupportsInt, con: MjrContext) -> None:
-    """mjr_resizeOffscreen(width: typing.SupportsInt, height: typing.SupportsInt, con: mujoco._render.MjrContext) -> None
+def mjr_resizeOffscreen(width: int, height: int, con: MjrContext) -> None:
+    """mjr_resizeOffscreen(width: int, height: int, con: mujoco._render.MjrContext) -> None
 
     Resize offscreen buffers.
     """
@@ -201,33 +194,33 @@ def mjr_restoreBuffer(con: MjrContext) -> None:
 
     Make con->currentBuffer current again.
     """
-def mjr_setAux(index: typing.SupportsInt, con: MjrContext) -> None:
-    """mjr_setAux(index: typing.SupportsInt, con: mujoco._render.MjrContext) -> None
+def mjr_setAux(index: int, con: MjrContext) -> None:
+    """mjr_setAux(index: int, con: mujoco._render.MjrContext) -> None
 
     Set Aux buffer for custom OpenGL rendering (call restoreBuffer when done).
     """
-def mjr_setBuffer(framebuffer: typing.SupportsInt, con: MjrContext) -> None:
-    """mjr_setBuffer(framebuffer: typing.SupportsInt, con: mujoco._render.MjrContext) -> None
+def mjr_setBuffer(framebuffer: int, con: MjrContext) -> None:
+    """mjr_setBuffer(framebuffer: int, con: mujoco._render.MjrContext) -> None
 
     Set OpenGL framebuffer for rendering: mjFB_WINDOW or mjFB_OFFSCREEN. If only one buffer is available, set that buffer and ignore framebuffer argument.
     """
-def mjr_text(font: typing.SupportsInt, txt: str, con: MjrContext, x: typing.SupportsFloat, y: typing.SupportsFloat, r: typing.SupportsFloat, g: typing.SupportsFloat, b: typing.SupportsFloat) -> None:
-    """mjr_text(font: typing.SupportsInt, txt: str, con: mujoco._render.MjrContext, x: typing.SupportsFloat, y: typing.SupportsFloat, r: typing.SupportsFloat, g: typing.SupportsFloat, b: typing.SupportsFloat) -> None
+def mjr_text(font: int, txt: str, con: MjrContext, x: float, y: float, r: float, g: float, b: float) -> None:
+    """mjr_text(font: int, txt: str, con: mujoco._render.MjrContext, x: float, y: float, r: float, g: float, b: float) -> None
 
     Draw text at (x,y) in relative coordinates; font is mjtFont.
     """
-def mjr_uploadHField(m: mujoco._structs.MjModel, con: MjrContext, hfieldid: typing.SupportsInt) -> None:
-    """mjr_uploadHField(m: mujoco._structs.MjModel, con: mujoco._render.MjrContext, hfieldid: typing.SupportsInt) -> None
+def mjr_uploadHField(m: mujoco._structs.MjModel, con: MjrContext, hfieldid: int) -> None:
+    """mjr_uploadHField(m: mujoco._structs.MjModel, con: mujoco._render.MjrContext, hfieldid: int) -> None
 
     Upload height field to GPU, overwriting previous upload if any.
     """
-def mjr_uploadMesh(m: mujoco._structs.MjModel, con: MjrContext, meshid: typing.SupportsInt) -> None:
-    """mjr_uploadMesh(m: mujoco._structs.MjModel, con: mujoco._render.MjrContext, meshid: typing.SupportsInt) -> None
+def mjr_uploadMesh(m: mujoco._structs.MjModel, con: MjrContext, meshid: int) -> None:
+    """mjr_uploadMesh(m: mujoco._structs.MjModel, con: mujoco._render.MjrContext, meshid: int) -> None
 
     Upload mesh to GPU, overwriting previous upload if any.
     """
-def mjr_uploadTexture(m: mujoco._structs.MjModel, con: MjrContext, texid: typing.SupportsInt) -> None:
-    """mjr_uploadTexture(m: mujoco._structs.MjModel, con: mujoco._render.MjrContext, texid: typing.SupportsInt) -> None
+def mjr_uploadTexture(m: mujoco._structs.MjModel, con: MjrContext, texid: int) -> None:
+    """mjr_uploadTexture(m: mujoco._structs.MjModel, con: mujoco._render.MjrContext, texid: int) -> None
 
     Upload texture to GPU, overwriting previous upload if any.
     """