mujoco

# Copyright 2026 DeepMind Technologies Limited
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ==============================================================================
"""System identification toolbox."""

# sysid is an optional dependency (mujoco[sysid]). Gracefully handle missing
# optional dependencies (e.g. when installed without extras or on Python 3.15).
try:
  from mujoco.sysid._src import model_modifier as model_modifier
  from mujoco.sysid._src import parameter as parameter
  from mujoco.sysid._src import signal_modifier as signal_modifier
  from mujoco.sysid._src.io import save_results as save_results
  from mujoco.sysid._src.model_modifier import apply_body_inertia as apply_body_inertia
  from mujoco.sysid._src.model_modifier import apply_dgain as apply_dgain
  from mujoco.sysid._src.model_modifier import apply_param_modifiers as apply_param_modifiers
  from mujoco.sysid._src.model_modifier import apply_param_modifiers_spec as apply_param_modifiers_spec
  from mujoco.sysid._src.model_modifier import apply_pdgain as apply_pdgain
  from mujoco.sysid._src.model_modifier import apply_pgain as apply_pgain
  from mujoco.sysid._src.model_modifier import body_inertia_param as body_inertia_param
  from mujoco.sysid._src.model_modifier import remove_visuals as remove_visuals
  from mujoco.sysid._src.optimize import calculate_intervals as calculate_intervals
  from mujoco.sysid._src.optimize import optimize as optimize
  from mujoco.sysid._src.parameter import InertiaType as InertiaType
  from mujoco.sysid._src.parameter import Parameter as Parameter
  from mujoco.sysid._src.parameter import ParameterDict as ParameterDict
  from mujoco.sysid._src.plotting import render_rollout as render_rollout
  from mujoco.sysid._src.residual import build_residual_fn as build_residual_fn
  from mujoco.sysid._src.residual import BuildModelFn as BuildModelFn
  from mujoco.sysid._src.residual import construct_ts_from_defaults as construct_ts_from_defaults
  from mujoco.sysid._src.residual import CustomRolloutFn as CustomRolloutFn
  from mujoco.sysid._src.residual import model_residual as model_residual
  from mujoco.sysid._src.residual import ModifyResidualFn as ModifyResidualFn
  from mujoco.sysid._src.residual import residual as residual
  from mujoco.sysid._src.signal_modifier import apply_bias as apply_bias
  from mujoco.sysid._src.signal_modifier import apply_delay as apply_delay
  from mujoco.sysid._src.signal_modifier import apply_delayed_ts_window as apply_delayed_ts_window
  from mujoco.sysid._src.signal_modifier import apply_gain as apply_gain
  from mujoco.sysid._src.signal_modifier import apply_resample_and_delay as apply_resample_and_delay
  from mujoco.sysid._src.signal_modifier import get_sensor_indices as get_sensor_indices
  from mujoco.sysid._src.signal_modifier import normalize_residual as normalize_residual
  from mujoco.sysid._src.signal_modifier import weighted_diff as weighted_diff
  from mujoco.sysid._src.signal_transform import SignalTransform as SignalTransform
  from mujoco.sysid._src.timeseries import SignalType as SignalType
  from mujoco.sysid._src.timeseries import TimeSeries as TimeSeries
  from mujoco.sysid._src.trajectory import create_initial_state as create_initial_state
  from mujoco.sysid._src.trajectory import ModelSequences as ModelSequences
  from mujoco.sysid._src.trajectory import sysid_rollout as sysid_rollout
  from mujoco.sysid._src.trajectory import SystemTrajectory as SystemTrajectory
  from mujoco.sysid.report.defaults import default_report as default_report
except ModuleNotFoundError:
  pass