; LLVM IR from shbang91/rpc :: simulator/mujoco/draco/simulate/simulate.ll (ZN6mujoco8Simulate18LoadOnRenderThreadEv)

; Unoptimized IR (clang -disable-llvm-passes):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

%"class.std::optional.32" = type { %"struct.std::_Optional_base.33" }
%"struct.std::_Optional_base.33" = type { %"struct.std::_Optional_payload.35" }
%"struct.std::_Optional_payload.35" = type { %"struct.std::_Optional_payload_base.base.37", [7 x i8] }
%"struct.std::_Optional_payload_base.base.37" = type <{ %"union.std::_Optional_payload_base<std::pair<double, double>>::_Storage", i8 }>
%"union.std::_Optional_payload_base<std::pair<double, double>>::_Storage" = type { %"struct.std::pair" }
%"struct.std::pair" = type { double, double }
%"struct.std::nullopt_t" = type { i8 }
%"class.mujoco::Simulate" = type <{ i8, [7 x i8], ptr, ptr, ptr, ptr, ptr, i32, i32, i32, i32, i32, [4 x i8], %"class.std::vector", %"class.std::vector", %"class.std::vector", %"class.std::vector", %"class.std::vector.2", %"class.std::vector.7", %"class.std::vector", %"class.std::vector.2", %"class.std::vector.7", %"class.std::vector.12", %"class.std::vector.12", %"class.std::vector.12", %"class.std::vector.12", %"class.std::vector.12", %struct.mjvSceneState_, %struct.mjOption_, %struct.mjvOption_, [4 x i8], %struct.mjvCamera_, i32, [4 x i8], %struct.anon.24, %"class.mujoco::SimulateMutex", %"class.std::_V2::condition_variable_any", i32, [4 x i8], %"class.std::chrono::time_point", double, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, %"struct.std::atomic", %"struct.std::atomic", %"struct.std::atomic", %"struct.std::atomic", i32, [1000 x i8], [1000 x i8], [1000 x i8], [1000 x i8], i32, i8, [3 x i8], float, double, double, [300 x i8], i32, [15 x i32], [6 x i32], [6 x i32], i32, %struct.mjvScene_, ptr, ptr, ptr, %struct.mjvFigure_, %struct.mjvFigure_, %struct.mjvFigure_, %struct.mjvFigure_, %struct.mjvFigure_, [4 x i8], ptr, [10 x i8], [2 x i8], i32, [2 x i32], [2 x i32], %"class.std::unique_ptr", ptr, %struct.mjUI_, %struct.mjUI_, [13 x %struct.mjuiDef_], [14 x %struct.mjuiDef_], [5 x %struct.mjuiDef_], [1000 x i8], [1000 x i8], %"class.std::_V2::condition_variable_any", i32, i32, i32, [4 x i8] }>
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.2" = type { %"struct.std::_Vector_base.3" }
%"struct.std::_Vector_base.3" = type { %"struct.std::_Vector_base<std::optional<std::pair<double, double>>, std::allocator<std::optional<std::pair<double, double>>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::optional<std::pair<double, double>>, std::allocator<std::optional<std::pair<double, double>>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::optional<std::pair<double, double>>, std::allocator<std::optional<std::pair<double, double>>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::optional<std::pair<double, double>>, std::allocator<std::optional<std::pair<double, double>>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.7" = type { %"struct.std::_Vector_base.8" }
%"struct.std::_Vector_base.8" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.12" = type { %"struct.std::_Vector_base.13" }
%"struct.std::_Vector_base.13" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%struct.mjvSceneState_ = type { i32, ptr, i32, %struct.mjvScene_, %struct.anon, %struct.anon.23 }
%struct.anon = type { i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, %struct.mjOption_, %struct.mjVisual_, %struct.mjStatistic_, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr }
%struct.mjVisual_ = type { %struct.anon.17, %struct.anon.18, %struct.anon.19, %struct.anon.20, %struct.anon.21, %struct.anon.22 }
%struct.anon.17 = type { float, float, float, float, float, float, float, i32, i32, i32, i32 }
%struct.anon.18 = type { i32, i32, i32, i32, i32 }
%struct.anon.19 = type { [3 x float], [3 x float], [3 x float], i32 }
%struct.anon.20 = type { float, float, float, float, float, float, float, float, float, float, float, float, float }
%struct.anon.21 = type { float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float }
%struct.anon.22 = type { [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float] }
%struct.mjStatistic_ = type { double, double, double, double, [3 x double] }
%struct.anon.23 = type { [8 x %struct.mjWarningStat_], i32, i32, i32, double, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr }
%struct.mjWarningStat_ = type { i32, i32 }
%struct.mjOption_ = type { double, double, double, double, double, double, double, [3 x double], [3 x double], [3 x double], double, double, double, [2 x double], [5 x double], [5 x double], i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32 }
%struct.mjvOption_ = type { i32, i32, [6 x i8], [6 x i8], [6 x i8], [6 x i8], [6 x i8], [6 x i8], [6 x i8], [32 x i8], i32, i32 }
%struct.mjvCamera_ = type { i32, i32, i32, [3 x double], double, double, double }
%struct.anon.24 = type <{ %"class.std::optional", %"class.std::optional", %"class.std::optional", %"class.std::optional", i8, i8, i8, i8, i8, i8, i8, i8, i32, i8, [3 x i8], %struct.mjuiState_, i8, i8, i8, i8, i8, i8, [2 x i8] }>
%"class.std::optional" = type { %"struct.std::_Optional_base" }
%"struct.std::_Optional_base" = type { %"struct.std::_Optional_payload" }
%"struct.std::_Optional_payload" = type { %"struct.std::_Optional_payload.base", [7 x i8] }
%"struct.std::_Optional_payload.base" = type { %"struct.std::_Optional_payload_base.base" }
%"struct.std::_Optional_payload_base.base" = type <{ %"union.std::_Optional_payload_base<std::__cxx11::basic_string<char>>::_Storage", i8 }>
%"union.std::_Optional_payload_base<std::__cxx11::basic_string<char>>::_Storage" = type { %"class.std::__cxx11::basic_string" }
%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%struct.mjuiState_ = type { i32, [25 x %struct.mjrRect_], ptr, i32, i32, i32, i32, i32, i32, double, double, double, double, double, double, double, i32, i32, i32, i32, double, i32, i32, i32, i32, ptr }
%struct.mjrRect_ = type { i32, i32, i32, i32 }
%"class.mujoco::SimulateMutex" = type { %"class.std::recursive_mutex" }
%"class.std::recursive_mutex" = type { %"class.std::__recursive_mutex_base" }
%"class.std::__recursive_mutex_base" = type { %union.pthread_mutex_t }
%union.pthread_mutex_t = type { %struct.__pthread_mutex_s }
%struct.__pthread_mutex_s = type { i32, i32, i32, i32, i32, i16, i16, %struct.__pthread_internal_list }
%struct.__pthread_internal_list = type { ptr, ptr }
%"class.std::chrono::time_point" = type { %"class.std::chrono::duration" }
%"class.std::chrono::duration" = type { i64 }
%"struct.std::atomic" = type { %"struct.std::__atomic_base" }
%"struct.std::__atomic_base" = type { i32 }
%struct.mjvScene_ = type { i32, i32, ptr, ptr, i32, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, i8, i8, i8, i8, i32, ptr, ptr, ptr, ptr, ptr, i32, [100 x %struct.mjvLight_], [2 x %struct.mjvGLCamera_], i8, [3 x float], [4 x float], float, i32, [10 x i8], i32, [3 x float] }
%struct.mjvLight_ = type { [3 x float], [3 x float], [3 x float], float, float, [3 x float], [3 x float], [3 x float], i8, i8, i8 }
%struct.mjvGLCamera_ = type { [3 x float], [3 x float], [3 x float], float, float, float, float, float, float }
%struct.mjvFigure_ = type { i32, [2 x i32], i32, i32, i32, i32, float, float, [2 x i32], [3 x float], [4 x float], [4 x float], [4 x float], [3 x float], [100 x [3 x float]], [2 x [2 x float]], [20 x i8], [20 x i8], [20 x i8], [1000 x i8], [100 x i8], [100 x [100 x i8]], i32, i32, [2 x i32], i32, float, [100 x i32], [100 x [2000 x float]], [2 x i32], [2 x i32], [2 x float], [2 x float] }
%"class.std::unique_ptr" = type { %"struct.std::__uniq_ptr_data" }
%"struct.std::__uniq_ptr_data" = type { %"class.std::__uniq_ptr_impl" }
%"class.std::__uniq_ptr_impl" = type { %"class.std::tuple" }
%"class.std::tuple" = type { %"struct.std::_Tuple_impl" }
%"struct.std::_Tuple_impl" = type { %"struct.std::_Head_base.1" }
%"struct.std::_Head_base.1" = type { ptr }
%struct.mjUI_ = type { %struct.mjuiThemeSpacing_, %struct.mjuiThemeColor_, ptr, ptr, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, [300 x i8], ptr, i32, [10 x %struct.mjuiSection_] }
%struct.mjuiThemeSpacing_ = type { i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32 }
%struct.mjuiThemeColor_ = type { [3 x float], [3 x float], [3 x float], [3 x float], [3 x float], [3 x float], [3 x float], [3 x float], [3 x float], [3 x float], [3 x float], [3 x float], [3 x float], [3 x float], [3 x float], [3 x float], [3 x float], [3 x float], [3 x float], [3 x float], [3 x float] }
%struct.mjuiSection_ = type { [40 x i8], i32, i32, i32, i32, [200 x %struct.mjuiItem_], %struct.mjrRect_, %struct.mjrRect_ }
%struct.mjuiItem_ = type { i32, [40 x i8], i32, ptr, i32, i32, %union.anon.31, %struct.mjrRect_ }
%union.anon.31 = type { %struct.mjuiItemEdit_, [1288 x i8] }
%struct.mjuiItemEdit_ = type { i32, [7 x [2 x double]] }
%struct.mjuiDef_ = type { i32, [40 x i8], i32, ptr, [300 x i8] }
%"class.std::_V2::condition_variable_any" = type { %"class.std::condition_variable", %"class.std::shared_ptr" }
%"class.std::condition_variable" = type { %"class.std::__condvar" }
%"class.std::__condvar" = type { %union.pthread_cond_t }
%union.pthread_cond_t = type { %struct.__pthread_cond_s }
%struct.__pthread_cond_s = type { %union.__atomic_wide_counter, %union.__atomic_wide_counter, [2 x i32], [2 x i32], i32, i32, [2 x i32] }
%union.__atomic_wide_counter = type { i64 }
%"class.std::shared_ptr" = type { %"class.std::__shared_ptr" }
%"class.std::__shared_ptr" = type { ptr, %"class.std::__shared_count" }
%"class.std::__shared_count" = type { ptr }
%struct.mjModel_ = type { i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i64, i64, %struct.mjOption_, %struct.mjVisual_, %struct.mjStatistic_, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr }
%struct.mjData_ = type { i64, i64, i32, i64, i64, i64, i64, [128 x i64], i64, i32, i32, [8 x %struct.mjWarningStat_], [15 x %struct.mjTimerStat_], [4000 x %struct.mjSolverStat_], i32, [20 x i32], [20 x i32], [2 x double], i32, i32, i32, i32, i32, i32, i32, double, [2 x double], ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, i64 }
%struct.mjTimerStat_ = type { double, i32 }
%struct.mjSolverStat_ = type { double, double, double, i32, i32, i32, i32 }
%struct.mjvPerturb_ = type { i32, i32, i32, i32, i32, [3 x double], [4 x double], [3 x double], [3 x double], double, double }
%struct.mjuiItemSlider_ = type { [2 x double], double }

@__const._ZN6mujoco8Simulate18LoadOnRenderThreadEv.title = external hidden unnamed_addr constant [200 x i8], align 16
@_ZN6mujoco8Simulate15percentRealTimeE = external dso_local constant [31 x float], align 16

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #2

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: mustprogress uwtable
declare hidden void @_ZN12_GLOBAL__N_117AlignAndScaleViewEPN6mujoco8SimulateEPK8mjModel_(ptr noundef, ptr noundef) #3

declare void @mju_copy(ptr noundef, ptr noundef, i32 noundef) #4

declare void @mjv_updateScene(ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, i32 noundef, ptr noundef) #4

declare void @mjv_updateSceneState(ptr noundef, ptr noundef, ptr noundef, ptr noundef) #4

; Function Attrs: inlinehint mustprogress uwtable
declare hidden void @_ZN12_GLOBAL__N_14CopyIA10_hEEvRT_RKS2_(ptr noundef nonnull align 1 dereferenceable(10), ptr noundef nonnull align 1 dereferenceable(10)) #5

; Function Attrs: mustprogress nounwind uwtable
declare hidden void @_ZN12_GLOBAL__N_114UpdateSettingsEPN6mujoco8SimulateEPK8mjModel_(ptr noundef, ptr noundef) #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare hidden noundef ptr @_ZN6mujoco11sample_utilL10strcpy_arrILm1000EEEPcRAT__cPKc(ptr noundef nonnull align 1 dereferenceable(1000), ptr noundef) #6

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN6mujoco8Simulate18LoadOnRenderThreadEv(ptr noundef nonnull align 8 dereferenceable(10060044) %0) #3 align 2 {
  %2 = alloca ptr, align 8
  %3 = alloca i32, align 4
  %4 = alloca %"class.std::optional.32", align 8
  %5 = alloca %"struct.std::pair", align 8
  %6 = alloca %"class.std::optional.32", align 8
  %7 = alloca %"struct.std::nullopt_t", align 1
  %8 = alloca i32, align 4
  %9 = alloca ptr, align 8
  %10 = alloca i32, align 4
  %11 = alloca %"class.std::optional.32", align 8
  %12 = alloca %"struct.std::pair", align 8
  %13 = alloca %"class.std::optional.32", align 8
  %14 = alloca %"struct.std::nullopt_t", align 1
  %15 = alloca i32, align 4
  %16 = alloca ptr, align 8
  %17 = alloca i32, align 4
  %18 = alloca i32, align 4
  %19 = alloca i32, align 4
  %20 = alloca i32, align 4
  %21 = alloca i32, align 4
  %22 = alloca [200 x i8], align 16
  %23 = alloca i32, align 4
  %24 = alloca float, align 4
  %25 = alloca float, align 4
  %26 = alloca i32, align 4
  %27 = alloca float, align 4
  store ptr %0, ptr %2, align 8, !tbaa !5
  %28 = load ptr, ptr %2, align 8
  %29 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 2
  %30 = load ptr, ptr %29, align 8, !tbaa !9
  %31 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  store ptr %30, ptr %31, align 8, !tbaa !77
  %32 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 3
  %33 = load ptr, ptr %32, align 8, !tbaa !78
  %34 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 5
  store ptr %33, ptr %34, align 8, !tbaa !79
  %35 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %36 = load ptr, ptr %35, align 8, !tbaa !77
  %37 = getelementptr inbounds %struct.mjModel_, ptr %36, i32 0, i32 11
  %38 = load i32, ptr %37, align 4, !tbaa !80
  %39 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 7
  store i32 %38, ptr %39, align 8, !tbaa !82
  %40 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %41 = load ptr, ptr %40, align 8, !tbaa !77
  %42 = getelementptr inbounds %struct.mjModel_, ptr %41, i32 0, i32 50
  %43 = load i32, ptr %42, align 8, !tbaa !83
  %44 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 8
  store i32 %43, ptr %44, align 4, !tbaa !84
  %45 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 13
  %46 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %47 = load ptr, ptr %46, align 8, !tbaa !77
  %48 = getelementptr inbounds %struct.mjModel_, ptr %47, i32 0, i32 4
  %49 = load i32, ptr %48, align 8, !tbaa !85
  %50 = sext i32 %49 to i64
  call void @_ZNSt6vectorIiSaIiEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %45, i64 noundef %50)
  %51 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 13
  %52 = call noundef ptr @_ZNSt6vectorIiSaIiEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %51) #7
  %53 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %54 = load ptr, ptr %53, align 8, !tbaa !77
  %55 = getelementptr inbounds %struct.mjModel_, ptr %54, i32 0, i32 83
  %56 = load ptr, ptr %55, align 8, !tbaa !86
  %57 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %58 = load ptr, ptr %57, align 8, !tbaa !77
  %59 = getelementptr inbounds %struct.mjModel_, ptr %58, i32 0, i32 4
  %60 = load i32, ptr %59, align 8, !tbaa !85
  %61 = sext i32 %60 to i64
  %62 = mul i64 4, %61
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %52, ptr align 4 %56, i64 %62, i1 false)
  %63 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 14
  %64 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %65 = load ptr, ptr %64, align 8, !tbaa !77
  %66 = getelementptr inbounds %struct.mjModel_, ptr %65, i32 0, i32 8
  %67 = load i32, ptr %66, align 8, !tbaa !87
  %68 = sext i32 %67 to i64
  call void @_ZNSt6vectorIiSaIiEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %63, i64 noundef %68)
  %69 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 14
  %70 = call noundef ptr @_ZNSt6vectorIiSaIiEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %69) #7
  %71 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %72 = load ptr, ptr %71, align 8, !tbaa !77
  %73 = getelementptr inbounds %struct.mjModel_, ptr %72, i32 0, i32 116
  %74 = load ptr, ptr %73, align 8, !tbaa !88
  %75 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %76 = load ptr, ptr %75, align 8, !tbaa !77
  %77 = getelementptr inbounds %struct.mjModel_, ptr %76, i32 0, i32 8
  %78 = load i32, ptr %77, align 8, !tbaa !87
  %79 = sext i32 %78 to i64
  %80 = mul i64 4, %79
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %70, ptr align 4 %74, i64 %80, i1 false)
  %81 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 15
  %82 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %83 = load ptr, ptr %82, align 8, !tbaa !77
  %84 = getelementptr inbounds %struct.mjModel_, ptr %83, i32 0, i32 8
  %85 = load i32, ptr %84, align 8, !tbaa !87
  %86 = sext i32 %85 to i64
  call void @_ZNSt6vectorIiSaIiEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %81, i64 noundef %86)
  %87 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 15
  %88 = call noundef ptr @_ZNSt6vectorIiSaIiEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %87) #7
  %89 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %90 = load ptr, ptr %89, align 8, !tbaa !77
  %91 = getelementptr inbounds %struct.mjModel_, ptr %90, i32 0, i32 120
  %92 = load ptr, ptr %91, align 8, !tbaa !89
  %93 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %94 = load ptr, ptr %93, align 8, !tbaa !77
  %95 = getelementptr inbounds %struct.mjModel_, ptr %94, i32 0, i32 8
  %96 = load i32, ptr %95, align 8, !tbaa !87
  %97 = sext i32 %96 to i64
  %98 = mul i64 4, %97
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %88, ptr align 4 %92, i64 %98, i1 false)
  %99 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 16
  %100 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %101 = load ptr, ptr %100, align 8, !tbaa !77
  %102 = getelementptr inbounds %struct.mjModel_, ptr %101, i32 0, i32 8
  %103 = load i32, ptr %102, align 8, !tbaa !87
  %104 = sext i32 %103 to i64
  call void @_ZNSt6vectorIiSaIiEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %99, i64 noundef %104)
  %105 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 16
  %106 = call noundef ptr @_ZNSt6vectorIiSaIiEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %105) #7
  %107 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %108 = load ptr, ptr %107, align 8, !tbaa !77
  %109 = getelementptr inbounds %struct.mjModel_, ptr %108, i32 0, i32 117
  %110 = load ptr, ptr %109, align 8, !tbaa !90
  %111 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %112 = load ptr, ptr %111, align 8, !tbaa !77
  %113 = getelementptr inbounds %struct.mjModel_, ptr %112, i32 0, i32 8
  %114 = load i32, ptr %113, align 8, !tbaa !87
  %115 = sext i32 %114 to i64
  %116 = mul i64 4, %115
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %106, ptr align 4 %110, i64 %116, i1 false)
  %117 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 17
  call void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %117) #7
  %118 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 17
  %119 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %120 = load ptr, ptr %119, align 8, !tbaa !77
  %121 = getelementptr inbounds %struct.mjModel_, ptr %120, i32 0, i32 8
  %122 = load i32, ptr %121, align 8, !tbaa !87
  %123 = sext i32 %122 to i64
  call void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE7reserveEm(ptr noundef nonnull align 8 dereferenceable(24) %118, i64 noundef %123)
  call void @llvm.lifetime.start.p0(i64 4, ptr %3) #7
  store i32 0, ptr %3, align 4, !tbaa !91
  br label %124

124:                                              ; preds = %169, %1
  %125 = load i32, ptr %3, align 4, !tbaa !91
  %126 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %127 = load ptr, ptr %126, align 8, !tbaa !77
  %128 = getelementptr inbounds %struct.mjModel_, ptr %127, i32 0, i32 8
  %129 = load i32, ptr %128, align 8, !tbaa !87
  %130 = icmp slt i32 %125, %129
  br i1 %130, label %132, label %131

131:                                              ; preds = %124
  call void @llvm.lifetime.end.p0(i64 4, ptr %3) #7
  br label %172

132:                                              ; preds = %124
  %133 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %134 = load ptr, ptr %133, align 8, !tbaa !77
  %135 = getelementptr inbounds %struct.mjModel_, ptr %134, i32 0, i32 121
  %136 = load ptr, ptr %135, align 8, !tbaa !92
  %137 = load i32, ptr %3, align 4, !tbaa !91
  %138 = sext i32 %137 to i64
  %139 = getelementptr inbounds i8, ptr %136, i64 %138
  %140 = load i8, ptr %139, align 1, !tbaa !93
  %141 = icmp ne i8 %140, 0
  br i1 %141, label %142, label %166

142:                                              ; preds = %132
  %143 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 17
  call void @llvm.lifetime.start.p0(i64 24, ptr %4) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %5) #7
  %144 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %145 = load ptr, ptr %144, align 8, !tbaa !77
  %146 = getelementptr inbounds %struct.mjModel_, ptr %145, i32 0, i32 129
  %147 = load ptr, ptr %146, align 8, !tbaa !94
  %148 = load i32, ptr %3, align 4, !tbaa !91
  %149 = mul nsw i32 2, %148
  %150 = sext i32 %149 to i64
  %151 = getelementptr inbounds double, ptr %147, i64 %150
  %152 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %153 = load ptr, ptr %152, align 8, !tbaa !77
  %154 = getelementptr inbounds %struct.mjModel_, ptr %153, i32 0, i32 129
  %155 = load ptr, ptr %154, align 8, !tbaa !94
  %156 = load i32, ptr %3, align 4, !tbaa !91
  %157 = mul nsw i32 2, %156
  %158 = add nsw i32 %157, 1
  %159 = sext i32 %158 to i64
  %160 = getelementptr inbounds double, ptr %155, i64 %159
  %161 = call { double, double } @_ZSt9make_pairIRdS0_ESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENS2_INS3_IT0_E4typeEE6__typeEEOS4_OS9_(ptr noundef nonnull align 8 dereferenceable(8) %151, ptr noundef nonnull align 8 dereferenceable(8) %160)
  %162 = getelementptr inbounds { double, double }, ptr %5, i32 0, i32 0
  %163 = extractvalue { double, double } %161, 0
  store double %163, ptr %162, align 8
  %164 = getelementptr inbounds { double, double }, ptr %5, i32 0, i32 1
  %165 = extractvalue { double, double } %161, 1
  store double %165, ptr %164, align 8
  call void @_ZNSt8optionalISt4pairIddEEC2IS1_TnNSt9enable_ifIX7__and_vISt6__not_ISt7is_sameIS2_NSt9remove_cvINSt16remove_referenceIT_E4typeEE4typeEEES5_IS6_ISt10in_place_tSD_EESt16is_constructibleIS1_JS9_EESt14is_convertibleIS9_S1_EEEbE4typeELb1EEEOS9_(ptr noundef nonnull align 8 dereferenceable(24) %4, ptr noundef nonnull align 8 dereferenceable(16) %5) #7
  call void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE9push_backEOS3_(ptr noundef nonnull align 8 dereferenceable(24) %143, ptr noundef nonnull align 8 dereferenceable(24) %4)
  call void @llvm.lifetime.end.p0(i64 16, ptr %5) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %4) #7
  br label %168

166:                                              ; preds = %132
  %167 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 17
  call void @llvm.lifetime.start.p0(i64 24, ptr %6) #7
  call void @_ZNSt8optionalISt4pairIddEEC2ESt9nullopt_t(ptr noundef nonnull align 8 dereferenceable(24) %6) #7
  call void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE9push_backEOS3_(ptr noundef nonnull align 8 dereferenceable(24) %167, ptr noundef nonnull align 8 dereferenceable(24) %6)
  call void @llvm.lifetime.end.p0(i64 24, ptr %6) #7
  br label %168

168:                                              ; preds = %166, %142
  br label %169

169:                                              ; preds = %168
  %170 = load i32, ptr %3, align 4, !tbaa !91
  %171 = add nsw i32 %170, 1
  store i32 %171, ptr %3, align 4, !tbaa !91
  br label %124, !llvm.loop !95

172:                                              ; preds = %131
  %173 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 18
  call void @_ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %173) #7
  %174 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 18
  %175 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %176 = load ptr, ptr %175, align 8, !tbaa !77
  %177 = getelementptr inbounds %struct.mjModel_, ptr %176, i32 0, i32 8
  %178 = load i32, ptr %177, align 8, !tbaa !87
  %179 = sext i32 %178 to i64
  call void @_ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE7reserveEm(ptr noundef nonnull align 8 dereferenceable(24) %174, i64 noundef %179)
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #7
  store i32 0, ptr %8, align 4, !tbaa !91
  br label %180

180:                                              ; preds = %205, %172
  %181 = load i32, ptr %8, align 4, !tbaa !91
  %182 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %183 = load ptr, ptr %182, align 8, !tbaa !77
  %184 = getelementptr inbounds %struct.mjModel_, ptr %183, i32 0, i32 8
  %185 = load i32, ptr %184, align 8, !tbaa !87
  %186 = icmp slt i32 %181, %185
  br i1 %186, label %188, label %187

187:                                              ; preds = %180
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #7
  br label %208

188:                                              ; preds = %180
  %189 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 18
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #7
  %190 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %191 = load ptr, ptr %190, align 8, !tbaa !77
  %192 = getelementptr inbounds %struct.mjModel_, ptr %191, i32 0, i32 450
  %193 = load ptr, ptr %192, align 8, !tbaa !97
  %194 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %195 = load ptr, ptr %194, align 8, !tbaa !77
  %196 = getelementptr inbounds %struct.mjModel_, ptr %195, i32 0, i32 428
  %197 = load ptr, ptr %196, align 8, !tbaa !98
  %198 = load i32, ptr %8, align 4, !tbaa !91
  %199 = sext i32 %198 to i64
  %200 = getelementptr inbounds i32, ptr %197, i64 %199
  %201 = load i32, ptr %200, align 4, !tbaa !91
  %202 = sext i32 %201 to i64
  %203 = getelementptr inbounds i8, ptr %193, i64 %202
  store ptr %203, ptr %9, align 8, !tbaa !5
  %204 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE12emplace_backIJPcEEERS5_DpOT_(ptr noundef nonnull align 8 dereferenceable(24) %189, ptr noundef nonnull align 8 dereferenceable(8) %9)
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #7
  br label %205

205:                                              ; preds = %188
  %206 = load i32, ptr %8, align 4, !tbaa !91
  %207 = add nsw i32 %206, 1
  store i32 %207, ptr %8, align 4, !tbaa !91
  br label %180, !llvm.loop !99

208:                                              ; preds = %187
  %209 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 19
  %210 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %211 = load ptr, ptr %210, align 8, !tbaa !77
  %212 = getelementptr inbounds %struct.mjModel_, ptr %211, i32 0, i32 2
  %213 = load i32, ptr %212, align 8, !tbaa !100
  %214 = sext i32 %213 to i64
  call void @_ZNSt6vectorIiSaIiEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %209, i64 noundef %214)
  %215 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 19
  %216 = call noundef ptr @_ZNSt6vectorIiSaIiEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %215) #7
  %217 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %218 = load ptr, ptr %217, align 8, !tbaa !77
  %219 = getelementptr inbounds %struct.mjModel_, ptr %218, i32 0, i32 373
  %220 = load ptr, ptr %219, align 8, !tbaa !101
  %221 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %222 = load ptr, ptr %221, align 8, !tbaa !77
  %223 = getelementptr inbounds %struct.mjModel_, ptr %222, i32 0, i32 2
  %224 = load i32, ptr %223, align 8, !tbaa !100
  %225 = sext i32 %224 to i64
  %226 = mul i64 4, %225
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %216, ptr align 4 %220, i64 %226, i1 false)
  %227 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 20
  call void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %227) #7
  %228 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 20
  %229 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %230 = load ptr, ptr %229, align 8, !tbaa !77
  %231 = getelementptr inbounds %struct.mjModel_, ptr %230, i32 0, i32 2
  %232 = load i32, ptr %231, align 8, !tbaa !100
  %233 = sext i32 %232 to i64
  call void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE7reserveEm(ptr noundef nonnull align 8 dereferenceable(24) %228, i64 noundef %233)
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #7
  store i32 0, ptr %10, align 4, !tbaa !91
  br label %234

234:                                              ; preds = %279, %208
  %235 = load i32, ptr %10, align 4, !tbaa !91
  %236 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %237 = load ptr, ptr %236, align 8, !tbaa !77
  %238 = getelementptr inbounds %struct.mjModel_, ptr %237, i32 0, i32 2
  %239 = load i32, ptr %238, align 8, !tbaa !100
  %240 = icmp slt i32 %235, %239
  br i1 %240, label %242, label %241

241:                                              ; preds = %234
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #7
  br label %282

242:                                              ; preds = %234
  %243 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %244 = load ptr, ptr %243, align 8, !tbaa !77
  %245 = getelementptr inbounds %struct.mjModel_, ptr %244, i32 0, i32 374
  %246 = load ptr, ptr %245, align 8, !tbaa !102
  %247 = load i32, ptr %10, align 4, !tbaa !91
  %248 = sext i32 %247 to i64
  %249 = getelementptr inbounds i8, ptr %246, i64 %248
  %250 = load i8, ptr %249, align 1, !tbaa !93
  %251 = icmp ne i8 %250, 0
  br i1 %251, label %252, label %276

252:                                              ; preds = %242
  %253 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 20
  call void @llvm.lifetime.start.p0(i64 24, ptr %11) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %12) #7
  %254 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %255 = load ptr, ptr %254, align 8, !tbaa !77
  %256 = getelementptr inbounds %struct.mjModel_, ptr %255, i32 0, i32 381
  %257 = load ptr, ptr %256, align 8, !tbaa !103
  %258 = load i32, ptr %10, align 4, !tbaa !91
  %259 = mul nsw i32 2, %258
  %260 = sext i32 %259 to i64
  %261 = getelementptr inbounds double, ptr %257, i64 %260
  %262 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %263 = load ptr, ptr %262, align 8, !tbaa !77
  %264 = getelementptr inbounds %struct.mjModel_, ptr %263, i32 0, i32 381
  %265 = load ptr, ptr %264, align 8, !tbaa !103
  %266 = load i32, ptr %10, align 4, !tbaa !91
  %267 = mul nsw i32 2, %266
  %268 = add nsw i32 %267, 1
  %269 = sext i32 %268 to i64
  %270 = getelementptr inbounds double, ptr %265, i64 %269
  %271 = call { double, double } @_ZSt9make_pairIRdS0_ESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENS2_INS3_IT0_E4typeEE6__typeEEOS4_OS9_(ptr noundef nonnull align 8 dereferenceable(8) %261, ptr noundef nonnull align 8 dereferenceable(8) %270)
  %272 = getelementptr inbounds { double, double }, ptr %12, i32 0, i32 0
  %273 = extractvalue { double, double } %271, 0
  store double %273, ptr %272, align 8
  %274 = getelementptr inbounds { double, double }, ptr %12, i32 0, i32 1
  %275 = extractvalue { double, double } %271, 1
  store double %275, ptr %274, align 8
  call void @_ZNSt8optionalISt4pairIddEEC2IS1_TnNSt9enable_ifIX7__and_vISt6__not_ISt7is_sameIS2_NSt9remove_cvINSt16remove_referenceIT_E4typeEE4typeEEES5_IS6_ISt10in_place_tSD_EESt16is_constructibleIS1_JS9_EESt14is_convertibleIS9_S1_EEEbE4typeELb1EEEOS9_(ptr noundef nonnull align 8 dereferenceable(24) %11, ptr noundef nonnull align 8 dereferenceable(16) %12) #7
  call void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE9push_backEOS3_(ptr noundef nonnull align 8 dereferenceable(24) %253, ptr noundef nonnull align 8 dereferenceable(24) %11)
  call void @llvm.lifetime.end.p0(i64 16, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %11) #7
  br label %278

276:                                              ; preds = %242
  %277 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 20
  call void @llvm.lifetime.start.p0(i64 24, ptr %13) #7
  call void @_ZNSt8optionalISt4pairIddEEC2ESt9nullopt_t(ptr noundef nonnull align 8 dereferenceable(24) %13) #7
  call void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE9push_backEOS3_(ptr noundef nonnull align 8 dereferenceable(24) %277, ptr noundef nonnull align 8 dereferenceable(24) %13)
  call void @llvm.lifetime.end.p0(i64 24, ptr %13) #7
  br label %278

278:                                              ; preds = %276, %252
  br label %279

279:                                              ; preds = %278
  %280 = load i32, ptr %10, align 4, !tbaa !91
  %281 = add nsw i32 %280, 1
  store i32 %281, ptr %10, align 4, !tbaa !91
  br label %234, !llvm.loop !104

282:                                              ; preds = %241
  %283 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 21
  call void @_ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %283) #7
  %284 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 21
  %285 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %286 = load ptr, ptr %285, align 8, !tbaa !77
  %287 = getelementptr inbounds %struct.mjModel_, ptr %286, i32 0, i32 2
  %288 = load i32, ptr %287, align 8, !tbaa !100
  %289 = sext i32 %288 to i64
  call void @_ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE7reserveEm(ptr noundef nonnull align 8 dereferenceable(24) %284, i64 noundef %289)
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #7
  store i32 0, ptr %15, align 4, !tbaa !91
  br label %290

290:                                              ; preds = %315, %282
  %291 = load i32, ptr %15, align 4, !tbaa !91
  %292 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %293 = load ptr, ptr %292, align 8, !tbaa !77
  %294 = getelementptr inbounds %struct.mjModel_, ptr %293, i32 0, i32 2
  %295 = load i32, ptr %294, align 8, !tbaa !100
  %296 = icmp slt i32 %291, %295
  br i1 %296, label %298, label %297

297:                                              ; preds = %290
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #7
  br label %318

298:                                              ; preds = %290
  %299 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 21
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #7
  %300 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %301 = load ptr, ptr %300, align 8, !tbaa !77
  %302 = getelementptr inbounds %struct.mjModel_, ptr %301, i32 0, i32 450
  %303 = load ptr, ptr %302, align 8, !tbaa !97
  %304 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %305 = load ptr, ptr %304, align 8, !tbaa !77
  %306 = getelementptr inbounds %struct.mjModel_, ptr %305, i32 0, i32 443
  %307 = load ptr, ptr %306, align 8, !tbaa !105
  %308 = load i32, ptr %15, align 4, !tbaa !91
  %309 = sext i32 %308 to i64
  %310 = getelementptr inbounds i32, ptr %307, i64 %309
  %311 = load i32, ptr %310, align 4, !tbaa !91
  %312 = sext i32 %311 to i64
  %313 = getelementptr inbounds i8, ptr %303, i64 %312
  store ptr %313, ptr %16, align 8, !tbaa !5
  %314 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE12emplace_backIJPcEEERS5_DpOT_(ptr noundef nonnull align 8 dereferenceable(24) %299, ptr noundef nonnull align 8 dereferenceable(8) %16)
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #7
  br label %315

315:                                              ; preds = %298
  %316 = load i32, ptr %15, align 4, !tbaa !91
  %317 = add nsw i32 %316, 1
  store i32 %317, ptr %15, align 4, !tbaa !91
  br label %290, !llvm.loop !106

318:                                              ; preds = %297
  %319 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 23
  %320 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %321 = load ptr, ptr %320, align 8, !tbaa !77
  %322 = getelementptr inbounds %struct.mjModel_, ptr %321, i32 0, i32 0
  %323 = load i32, ptr %322, align 8, !tbaa !107
  %324 = sext i32 %323 to i64
  call void @_ZNSt6vectorIdSaIdEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %319, i64 noundef %324)
  %325 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 23
  %326 = call noundef ptr @_ZNSt6vectorIdSaIdEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %325) #7
  %327 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 5
  %328 = load ptr, ptr %327, align 8, !tbaa !79
  %329 = getelementptr inbounds %struct.mjData_, ptr %328, i32 0, i32 29
  %330 = load ptr, ptr %329, align 8, !tbaa !108
  %331 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %332 = load ptr, ptr %331, align 8, !tbaa !77
  %333 = getelementptr inbounds %struct.mjModel_, ptr %332, i32 0, i32 0
  %334 = load i32, ptr %333, align 8, !tbaa !107
  %335 = sext i32 %334 to i64
  %336 = mul i64 8, %335
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %326, ptr align 8 %330, i64 %336, i1 false)
  %337 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 23
  %338 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 24
  %339 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIdSaIdEEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %338, ptr noundef nonnull align 8 dereferenceable(24) %337)
  %340 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 25
  %341 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %342 = load ptr, ptr %341, align 8, !tbaa !77
  %343 = getelementptr inbounds %struct.mjModel_, ptr %342, i32 0, i32 2
  %344 = load i32, ptr %343, align 8, !tbaa !100
  %345 = sext i32 %344 to i64
  call void @_ZNSt6vectorIdSaIdEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %340, i64 noundef %345)
  %346 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 25
  %347 = call noundef ptr @_ZNSt6vectorIdSaIdEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %346) #7
  %348 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 5
  %349 = load ptr, ptr %348, align 8, !tbaa !79
  %350 = getelementptr inbounds %struct.mjData_, ptr %349, i32 0, i32 34
  %351 = load ptr, ptr %350, align 8, !tbaa !110
  %352 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %353 = load ptr, ptr %352, align 8, !tbaa !77
  %354 = getelementptr inbounds %struct.mjModel_, ptr %353, i32 0, i32 2
  %355 = load i32, ptr %354, align 8, !tbaa !100
  %356 = sext i32 %355 to i64
  %357 = mul i64 8, %356
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %347, ptr align 8 %351, i64 %357, i1 false)
  %358 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 25
  %359 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 26
  %360 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIdSaIdEEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %359, ptr noundef nonnull align 8 dereferenceable(24) %358)
  %361 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 0
  %362 = load i8, ptr %361, align 8, !tbaa !111, !range !112, !noundef !113
  %363 = trunc i8 %362 to i1
  br i1 %363, label %436, label %364

364:                                              ; preds = %318
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #7
  store i32 100000000, ptr %17, align 4, !tbaa !91
  %365 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %366 = load ptr, ptr %365, align 8, !tbaa !77
  %367 = call i32 @mj_stateSize(ptr noundef %366, i32 noundef 8191)
  %368 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 9
  store i32 %367, ptr %368, align 8, !tbaa !114
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #7
  %369 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 9
  %370 = load i32, ptr %369, align 8, !tbaa !114
  %371 = sext i32 %370 to i64
  %372 = mul i64 %371, 8
  %373 = trunc i64 %372 to i32
  store i32 %373, ptr %18, align 4, !tbaa !91
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #7
  %374 = load i32, ptr %18, align 4, !tbaa !91
  %375 = sdiv i32 2147483647, %374
  %376 = icmp slt i32 %375, 2000
  br i1 %376, label %377, label %380

377:                                              ; preds = %364
  %378 = load i32, ptr %18, align 4, !tbaa !91
  %379 = sdiv i32 2147483647, %378
  br label %381

380:                                              ; preds = %364
  br label %381

381:                                              ; preds = %380, %377
  %382 = phi i32 [ %379, %377 ], [ 2000, %380 ]
  store i32 %382, ptr %19, align 4, !tbaa !91
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #7
  %383 = load i32, ptr %18, align 4, !tbaa !91
  %384 = load i32, ptr %19, align 4, !tbaa !91
  %385 = mul nsw i32 %383, %384
  %386 = icmp slt i32 %385, 100000000
  br i1 %386, label %387, label %391

387:                                              ; preds = %381
  %388 = load i32, ptr %18, align 4, !tbaa !91
  %389 = load i32, ptr %19, align 4, !tbaa !91
  %390 = mul nsw i32 %388, %389
  br label %392

391:                                              ; preds = %381
  br label %392

392:                                              ; preds = %391, %387
  %393 = phi i32 [ %390, %387 ], [ 100000000, %391 ]
  store i32 %393, ptr %20, align 4, !tbaa !91
  %394 = load i32, ptr %20, align 4, !tbaa !91
  %395 = load i32, ptr %18, align 4, !tbaa !91
  %396 = sdiv i32 %394, %395
  %397 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 10
  store i32 %396, ptr %397, align 4, !tbaa !115
  %398 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 22
  call void @_ZNSt6vectorIdSaIdEE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %398) #7
  %399 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 22
  %400 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 10
  %401 = load i32, ptr %400, align 4, !tbaa !115
  %402 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 9
  %403 = load i32, ptr %402, align 8, !tbaa !114
  %404 = mul nsw i32 %401, %403
  %405 = sext i32 %404 to i64
  call void @_ZNSt6vectorIdSaIdEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %399, i64 noundef %405)
  %406 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 11
  store i32 0, ptr %406, align 8, !tbaa !116
  %407 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 55
  store i32 0, ptr %407, align 8, !tbaa !117
  %408 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %409 = load ptr, ptr %408, align 8, !tbaa !77
  %410 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 5
  %411 = load ptr, ptr %410, align 8, !tbaa !79
  %412 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 22
  %413 = call noundef ptr @_ZNSt6vectorIdSaIdEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %412) #7
  call void @mj_getState(ptr noundef %409, ptr noundef %411, ptr noundef %413, i32 noundef 8191)
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #7
  store i32 1, ptr %21, align 4, !tbaa !91
  br label %414

414:                                              ; preds = %432, %392
  %415 = load i32, ptr %21, align 4, !tbaa !91
  %416 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 10
  %417 = load i32, ptr %416, align 4, !tbaa !115
  %418 = icmp slt i32 %415, %417
  br i1 %418, label %420, label %419

419:                                              ; preds = %414
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #7
  br label %435

420:                                              ; preds = %414
  %421 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 22
  %422 = load i32, ptr %21, align 4, !tbaa !91
  %423 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 9
  %424 = load i32, ptr %423, align 8, !tbaa !114
  %425 = mul nsw i32 %422, %424
  %426 = sext i32 %425 to i64
  %427 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %421, i64 noundef %426) #7
  %428 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 22
  %429 = call noundef ptr @_ZNSt6vectorIdSaIdEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %428) #7
  %430 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 9
  %431 = load i32, ptr %430, align 8, !tbaa !114
  call void @mju_copy(ptr noundef %427, ptr noundef %429, i32 noundef %431)
  br label %432

432:                                              ; preds = %420
  %433 = load i32, ptr %21, align 4, !tbaa !91
  %434 = add nsw i32 %433, 1
  store i32 %434, ptr %21, align 4, !tbaa !91
  br label %414, !llvm.loop !118

435:                                              ; preds = %419
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #7
  br label %436

436:                                              ; preds = %435, %318
  %437 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %438 = load ptr, ptr %437, align 8, !tbaa !77
  %439 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 78
  call void @mjv_makeScene(ptr noundef %438, ptr noundef %439, i32 noundef 20000)
  %440 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 0
  %441 = load i8, ptr %440, align 8, !tbaa !111, !range !112, !noundef !113
  %442 = trunc i8 %441 to i1
  br i1 %442, label %443, label %466

443:                                              ; preds = %436
  %444 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %445 = load ptr, ptr %444, align 8, !tbaa !77
  %446 = getelementptr inbounds %struct.mjModel_, ptr %445, i32 0, i32 77
  %447 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 28
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %447, ptr align 8 %446, i64 304, i1 false), !tbaa.struct !119
  %448 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 80
  %449 = load ptr, ptr %448, align 8, !tbaa !121
  %450 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 29
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %450, ptr align 4 %449, i64 92, i1 false), !tbaa.struct !122
  %451 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 79
  %452 = load ptr, ptr %451, align 8, !tbaa !123
  %453 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 31
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %453, ptr align 8 %452, i64 64, i1 false), !tbaa.struct !124
  %454 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 5
  %455 = load ptr, ptr %454, align 8, !tbaa !79
  %456 = getelementptr inbounds %struct.mjData_, ptr %455, i32 0, i32 11
  %457 = getelementptr inbounds [8 x %struct.mjWarningStat_], ptr %456, i64 0, i64 3
  %458 = getelementptr inbounds %struct.mjWarningStat_, ptr %457, i32 0, i32 1
  %459 = load i32, ptr %458, align 4, !tbaa !125
  %460 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 32
  store i32 %459, ptr %460, align 8, !tbaa !127
  %461 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %462 = load ptr, ptr %461, align 8, !tbaa !77
  %463 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 5
  %464 = load ptr, ptr %463, align 8, !tbaa !79
  %465 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 27
  call void @mjv_makeSceneState(ptr noundef %462, ptr noundef %464, ptr noundef %465, i32 noundef 20000)
  br label %466

466:                                              ; preds = %443, %436
  %467 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 94
  %468 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %467) #7
  %469 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %470 = load ptr, ptr %469, align 8, !tbaa !77
  %471 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 43
  %472 = load i32, ptr %471, align 8, !tbaa !128
  %473 = add nsw i32 %472, 1
  %474 = mul nsw i32 50, %473
  %475 = load ptr, ptr %468, align 8, !tbaa !129
  %476 = getelementptr inbounds ptr, ptr %475, i64 2
  %477 = load ptr, ptr %476, align 8
  %478 = call noundef zeroext i1 %477(ptr noundef nonnull align 8 dereferenceable(2900) %468, ptr noundef %470, i32 noundef %474)
  %479 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 96
  %480 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 95
  %481 = load ptr, ptr %480, align 8, !tbaa !131
  %482 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 94
  %483 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %482) #7
  %484 = call noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900) %483)
  call void @_ZN12_GLOBAL__N_18UiModifyEP5mjUI_P10mjuiState_P11mjrContext_(ptr noundef %479, ptr noundef %481, ptr noundef %484)
  %485 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 97
  %486 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 95
  %487 = load ptr, ptr %486, align 8, !tbaa !131
  %488 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 94
  %489 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %488) #7
  %490 = call noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900) %489)
  call void @_ZN12_GLOBAL__N_18UiModifyEP5mjUI_P10mjuiState_P11mjrContext_(ptr noundef %485, ptr noundef %487, ptr noundef %490)
  %491 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 94
  %492 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %491) #7
  %493 = load ptr, ptr %492, align 8, !tbaa !129
  %494 = getelementptr inbounds ptr, ptr %493, i64 8
  %495 = load ptr, ptr %494, align 8
  %496 = call noundef zeroext i1 %495(ptr noundef nonnull align 8 dereferenceable(2900) %492)
  br i1 %496, label %504, label %497

497:                                              ; preds = %466
  %498 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 78
  %499 = getelementptr inbounds %struct.mjvScene_, ptr %498, i32 0, i32 35
  %500 = getelementptr inbounds [10 x i8], ptr %499, i64 0, i64 0
  store i8 0, ptr %500, align 4, !tbaa !93
  %501 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 78
  %502 = getelementptr inbounds %struct.mjvScene_, ptr %501, i32 0, i32 35
  %503 = getelementptr inbounds [10 x i8], ptr %502, i64 0, i64 2
  store i8 0, ptr %503, align 2, !tbaa !93
  br label %504

504:                                              ; preds = %497, %466
  %505 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 88
  %506 = load ptr, ptr %505, align 8, !tbaa !132
  %507 = icmp ne ptr %506, null
  br i1 %507, label %508, label %517

508:                                              ; preds = %504
  %509 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 88
  %510 = load ptr, ptr %509, align 8, !tbaa !132
  %511 = getelementptr inbounds %struct.mjvScene_, ptr %510, i32 0, i32 35
  %512 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 78
  %513 = getelementptr inbounds %struct.mjvScene_, ptr %512, i32 0, i32 35
  call void @_ZN12_GLOBAL__N_14CopyIA10_hEEvRT_RKS2_(ptr noundef nonnull align 1 dereferenceable(10) %511, ptr noundef nonnull align 1 dereferenceable(10) %513)
  %514 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 89
  %515 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 78
  %516 = getelementptr inbounds %struct.mjvScene_, ptr %515, i32 0, i32 35
  call void @_ZN12_GLOBAL__N_14CopyIA10_hEEvRT_RKS2_(ptr noundef nonnull align 1 dereferenceable(10) %514, ptr noundef nonnull align 1 dereferenceable(10) %516)
  br label %517

517:                                              ; preds = %508, %504
  %518 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 81
  %519 = load ptr, ptr %518, align 8, !tbaa !133
  %520 = getelementptr inbounds %struct.mjvPerturb_, ptr %519, i32 0, i32 3
  store i32 0, ptr %520, align 4, !tbaa !134
  %521 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 81
  %522 = load ptr, ptr %521, align 8, !tbaa !133
  %523 = getelementptr inbounds %struct.mjvPerturb_, ptr %522, i32 0, i32 0
  store i32 0, ptr %523, align 8, !tbaa !136
  %524 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 81
  %525 = load ptr, ptr %524, align 8, !tbaa !133
  %526 = getelementptr inbounds %struct.mjvPerturb_, ptr %525, i32 0, i32 1
  store i32 -1, ptr %526, align 4, !tbaa !137
  %527 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 81
  %528 = load ptr, ptr %527, align 8, !tbaa !133
  %529 = getelementptr inbounds %struct.mjvPerturb_, ptr %528, i32 0, i32 2
  store i32 -1, ptr %529, align 8, !tbaa !138
  %530 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 64
  %531 = getelementptr inbounds [1000 x i8], ptr %530, i64 0, i64 0
  %532 = load i8, ptr %531, align 4, !tbaa !93
  %533 = icmp ne i8 %532, 0
  br i1 %533, label %534, label %546

534:                                              ; preds = %517
  %535 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 64
  %536 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 65
  %537 = call noundef i32 @_ZN6mujoco11sample_utilL10strcmp_arrILm1000ELm1000EEEiRAT__KcRAT0__S2_(ptr noundef nonnull align 1 dereferenceable(1000) %535, ptr noundef nonnull align 1 dereferenceable(1000) %536)
  %538 = icmp ne i32 %537, 0
  br i1 %538, label %539, label %546

539:                                              ; preds = %534
  %540 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %541 = load ptr, ptr %540, align 8, !tbaa !77
  call void @_ZN12_GLOBAL__N_117AlignAndScaleViewEPN6mujoco8SimulateEPK8mjModel_(ptr noundef %28, ptr noundef %541)
  %542 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 65
  %543 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 64
  %544 = getelementptr inbounds [1000 x i8], ptr %543, i64 0, i64 0
  %545 = call noundef ptr @_ZN6mujoco11sample_utilL10strcpy_arrILm1000EEEPcRAT__cPKc(ptr noundef nonnull align 1 dereferenceable(1000) %542, ptr noundef %544)
  br label %546

546:                                              ; preds = %539, %534, %517
  %547 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 0
  %548 = load i8, ptr %547, align 8, !tbaa !111, !range !112, !noundef !113
  %549 = trunc i8 %548 to i1
  br i1 %549, label %562, label %550

550:                                              ; preds = %546
  %551 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %552 = load ptr, ptr %551, align 8, !tbaa !77
  %553 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 5
  %554 = load ptr, ptr %553, align 8, !tbaa !79
  %555 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 80
  %556 = load ptr, ptr %555, align 8, !tbaa !121
  %557 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 81
  %558 = load ptr, ptr %557, align 8, !tbaa !133
  %559 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 79
  %560 = load ptr, ptr %559, align 8, !tbaa !123
  %561 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 78
  call void @mjv_updateScene(ptr noundef %552, ptr noundef %554, ptr noundef %556, ptr noundef %558, ptr noundef %560, i32 noundef 7, ptr noundef %561)
  br label %570

562:                                              ; preds = %546
  %563 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %564 = load ptr, ptr %563, align 8, !tbaa !77
  %565 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 5
  %566 = load ptr, ptr %565, align 8, !tbaa !79
  %567 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 80
  %568 = load ptr, ptr %567, align 8, !tbaa !121
  %569 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 27
  call void @mjv_updateSceneState(ptr noundef %564, ptr noundef %566, ptr noundef %568, ptr noundef %569)
  br label %570

570:                                              ; preds = %562, %550
  %571 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %572 = load ptr, ptr %571, align 8, !tbaa !77
  %573 = getelementptr inbounds %struct.mjModel_, ptr %572, i32 0, i32 450
  %574 = load ptr, ptr %573, align 8, !tbaa !97
  %575 = icmp ne ptr %574, null
  br i1 %575, label %576, label %588

576:                                              ; preds = %570
  call void @llvm.lifetime.start.p0(i64 200, ptr %22) #7
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %22, ptr align 16 @__const._ZN6mujoco8Simulate18LoadOnRenderThreadEv.title, i64 200, i1 false)
  %577 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %578 = load ptr, ptr %577, align 8, !tbaa !77
  %579 = getelementptr inbounds %struct.mjModel_, ptr %578, i32 0, i32 450
  %580 = load ptr, ptr %579, align 8, !tbaa !97
  %581 = call noundef ptr @_ZN6mujoco11sample_utilL10strcat_arrILm200EEEPcRAT__cPKc(ptr noundef nonnull align 1 dereferenceable(200) %22, ptr noundef %580)
  %582 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 94
  %583 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %582) #7
  %584 = getelementptr inbounds [200 x i8], ptr %22, i64 0, i64 0
  %585 = load ptr, ptr %583, align 8, !tbaa !129
  %586 = getelementptr inbounds ptr, ptr %585, i64 12
  %587 = load ptr, ptr %586, align 8
  call void %587(ptr noundef nonnull align 8 dereferenceable(2900) %583, ptr noundef %584)
  call void @llvm.lifetime.end.p0(i64 200, ptr %22) #7
  br label %588

588:                                              ; preds = %576, %570
  %589 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 96
  %590 = getelementptr inbounds %struct.mjUI_, ptr %589, i32 0, i32 21
  %591 = getelementptr inbounds [10 x %struct.mjuiSection_], ptr %590, i64 0, i64 2
  %592 = getelementptr inbounds %struct.mjuiSection_, ptr %591, i32 0, i32 5
  %593 = getelementptr inbounds [200 x %struct.mjuiItem_], ptr %592, i64 0, i64 5
  %594 = getelementptr inbounds %struct.mjuiItem_, ptr %593, i32 0, i32 6
  %595 = getelementptr inbounds %struct.mjuiItemSlider_, ptr %594, i32 0, i32 0
  %596 = getelementptr inbounds [2 x double], ptr %595, i64 0, i64 0
  store double 0.000000e+00, ptr %596, align 8, !tbaa !93
  %597 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %598 = load ptr, ptr %597, align 8, !tbaa !77
  %599 = getelementptr inbounds %struct.mjModel_, ptr %598, i32 0, i32 50
  %600 = load i32, ptr %599, align 8, !tbaa !83
  %601 = sub nsw i32 %600, 1
  %602 = icmp sgt i32 0, %601
  br i1 %602, label %603, label %604

603:                                              ; preds = %588
  br label %610

604:                                              ; preds = %588
  %605 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %606 = load ptr, ptr %605, align 8, !tbaa !77
  %607 = getelementptr inbounds %struct.mjModel_, ptr %606, i32 0, i32 50
  %608 = load i32, ptr %607, align 8, !tbaa !83
  %609 = sub nsw i32 %608, 1
  br label %610

610:                                              ; preds = %604, %603
  %611 = phi i32 [ 0, %603 ], [ %609, %604 ]
  %612 = sitofp i32 %611 to double
  %613 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 96
  %614 = getelementptr inbounds %struct.mjUI_, ptr %613, i32 0, i32 21
  %615 = getelementptr inbounds [10 x %struct.mjuiSection_], ptr %614, i64 0, i64 2
  %616 = getelementptr inbounds %struct.mjuiSection_, ptr %615, i32 0, i32 5
  %617 = getelementptr inbounds [200 x %struct.mjuiItem_], ptr %616, i64 0, i64 5
  %618 = getelementptr inbounds %struct.mjuiItem_, ptr %617, i32 0, i32 6
  %619 = getelementptr inbounds %struct.mjuiItemSlider_, ptr %618, i32 0, i32 0
  %620 = getelementptr inbounds [2 x double], ptr %619, i64 0, i64 1
  store double %612, ptr %620, align 8, !tbaa !93
  %621 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %622 = load ptr, ptr %621, align 8, !tbaa !77
  %623 = getelementptr inbounds %struct.mjModel_, ptr %622, i32 0, i32 50
  %624 = load i32, ptr %623, align 8, !tbaa !83
  %625 = sub nsw i32 %624, 1
  %626 = icmp sgt i32 1, %625
  br i1 %626, label %627, label %628

627:                                              ; preds = %610
  br label %634

628:                                              ; preds = %610
  %629 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %630 = load ptr, ptr %629, align 8, !tbaa !77
  %631 = getelementptr inbounds %struct.mjModel_, ptr %630, i32 0, i32 50
  %632 = load i32, ptr %631, align 8, !tbaa !83
  %633 = sub nsw i32 %632, 1
  br label %634

634:                                              ; preds = %628, %627
  %635 = phi i32 [ 1, %627 ], [ %633, %628 ]
  %636 = sitofp i32 %635 to double
  %637 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 96
  %638 = getelementptr inbounds %struct.mjUI_, ptr %637, i32 0, i32 21
  %639 = getelementptr inbounds [10 x %struct.mjuiSection_], ptr %638, i64 0, i64 2
  %640 = getelementptr inbounds %struct.mjuiSection_, ptr %639, i32 0, i32 5
  %641 = getelementptr inbounds [200 x %struct.mjuiItem_], ptr %640, i64 0, i64 5
  %642 = getelementptr inbounds %struct.mjuiItem_, ptr %641, i32 0, i32 6
  %643 = getelementptr inbounds %struct.mjuiItemSlider_, ptr %642, i32 0, i32 1
  store double %636, ptr %643, align 8, !tbaa !93
  %644 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 10
  %645 = load i32, ptr %644, align 4, !tbaa !115
  %646 = sub nsw i32 1, %645
  %647 = sitofp i32 %646 to double
  %648 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 96
  %649 = getelementptr inbounds %struct.mjUI_, ptr %648, i32 0, i32 21
  %650 = getelementptr inbounds [10 x %struct.mjuiSection_], ptr %649, i64 0, i64 2
  %651 = getelementptr inbounds %struct.mjuiSection_, ptr %650, i32 0, i32 5
  %652 = getelementptr inbounds [200 x %struct.mjuiItem_], ptr %651, i64 0, i64 11
  %653 = getelementptr inbounds %struct.mjuiItem_, ptr %652, i32 0, i32 6
  %654 = getelementptr inbounds %struct.mjuiItemSlider_, ptr %653, i32 0, i32 0
  %655 = getelementptr inbounds [2 x double], ptr %654, i64 0, i64 0
  store double %647, ptr %655, align 8, !tbaa !93
  %656 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 10
  %657 = load i32, ptr %656, align 4, !tbaa !115
  %658 = sitofp i32 %657 to double
  %659 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 96
  %660 = getelementptr inbounds %struct.mjUI_, ptr %659, i32 0, i32 21
  %661 = getelementptr inbounds [10 x %struct.mjuiSection_], ptr %660, i64 0, i64 2
  %662 = getelementptr inbounds %struct.mjuiSection_, ptr %661, i32 0, i32 5
  %663 = getelementptr inbounds [200 x %struct.mjuiItem_], ptr %662, i64 0, i64 11
  %664 = getelementptr inbounds %struct.mjuiItem_, ptr %663, i32 0, i32 6
  %665 = getelementptr inbounds %struct.mjuiItemSlider_, ptr %664, i32 0, i32 1
  store double %658, ptr %665, align 8, !tbaa !93
  %666 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %667 = load ptr, ptr %666, align 8, !tbaa !77
  %668 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 5
  %669 = load ptr, ptr %668, align 8, !tbaa !79
  call void @_ZN12_GLOBAL__N_114MakeUiSectionsEPN6mujoco8SimulateEPK8mjModel_PK7mjData_(ptr noundef %28, ptr noundef %667, ptr noundef %669)
  %670 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 96
  %671 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 95
  %672 = load ptr, ptr %671, align 8, !tbaa !131
  %673 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 94
  %674 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %673) #7
  %675 = call noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900) %674)
  call void @_ZN12_GLOBAL__N_18UiModifyEP5mjUI_P10mjuiState_P11mjrContext_(ptr noundef %670, ptr noundef %672, ptr noundef %675)
  %676 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 97
  %677 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 95
  %678 = load ptr, ptr %677, align 8, !tbaa !131
  %679 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 94
  %680 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %679) #7
  %681 = call noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900) %680)
  call void @_ZN12_GLOBAL__N_18UiModifyEP5mjUI_P10mjuiState_P11mjrContext_(ptr noundef %676, ptr noundef %678, ptr noundef %681)
  %682 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %683 = load ptr, ptr %682, align 8, !tbaa !77
  call void @_ZN12_GLOBAL__N_114UpdateSettingsEPN6mujoco8SimulateEPK8mjModel_(ptr noundef %28, ptr noundef %683)
  %684 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 61
  store i32 0, ptr %684, align 8, !tbaa !139
  %685 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 36
  call void @_ZNSt3_V222condition_variable_any10notify_allEv(ptr noundef nonnull align 8 dereferenceable(64) %685) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #7
  store i32 31, ptr %23, align 4, !tbaa !91
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #7
  store float 1.000000e+06, ptr %24, align 4, !tbaa !140
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #7
  %686 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 4
  %687 = load ptr, ptr %686, align 8, !tbaa !77
  %688 = getelementptr inbounds %struct.mjModel_, ptr %687, i32 0, i32 78
  %689 = getelementptr inbounds %struct.mjVisual_, ptr %688, i32 0, i32 0
  %690 = getelementptr inbounds %struct.anon.17, ptr %689, i32 0, i32 6
  %691 = load float, ptr %690, align 8, !tbaa !141
  %692 = fmul float 1.000000e+02, %691
  %693 = call noundef float @_ZSt3logf(float noundef %692)
  store float %693, ptr %25, align 4, !tbaa !140
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #7
  store i32 0, ptr %26, align 4, !tbaa !91
  br label %694

694:                                              ; preds = %716, %634
  %695 = load i32, ptr %26, align 4, !tbaa !91
  %696 = load i32, ptr %23, align 4, !tbaa !91
  %697 = icmp slt i32 %695, %696
  br i1 %697, label %699, label %698

698:                                              ; preds = %694
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #7
  br label %719

699:                                              ; preds = %694
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #7
  %700 = load i32, ptr %26, align 4, !tbaa !91
  %701 = sext i32 %700 to i64
  %702 = getelementptr inbounds [31 x float], ptr @_ZN6mujoco8Simulate15percentRealTimeE, i64 0, i64 %701
  %703 = load float, ptr %702, align 4, !tbaa !140
  %704 = call noundef float @_ZSt3logf(float noundef %703)
  %705 = load float, ptr %25, align 4, !tbaa !140
  %706 = fsub float %704, %705
  %707 = call noundef float @_ZSt4fabsf(float noundef %706)
  store float %707, ptr %27, align 4, !tbaa !140
  %708 = load float, ptr %27, align 4, !tbaa !140
  %709 = load float, ptr %24, align 4, !tbaa !140
  %710 = fcmp olt float %708, %709
  br i1 %710, label %711, label %715

711:                                              ; preds = %699
  %712 = load float, ptr %27, align 4, !tbaa !140
  store float %712, ptr %24, align 4, !tbaa !140
  %713 = load i32, ptr %26, align 4, !tbaa !91
  %714 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 66
  store i32 %713, ptr %714, align 4, !tbaa !142
  br label %715

715:                                              ; preds = %711, %699
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #7
  br label %716

716:                                              ; preds = %715
  %717 = load i32, ptr %26, align 4, !tbaa !91
  %718 = add nsw i32 %717, 1
  store i32 %718, ptr %26, align 4, !tbaa !91
  br label %694, !llvm.loop !143

719:                                              ; preds = %698
  %720 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 2
  store ptr null, ptr %720, align 8, !tbaa !9
  %721 = getelementptr inbounds %"class.mujoco::Simulate", ptr %28, i32 0, i32 3
  store ptr null, ptr %721, align 8, !tbaa !78
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #7
  ret void
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIiSaIiEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNSt6vectorIiSaIiEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE7reserveEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE9push_backEOS3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local { double, double } @_ZSt9make_pairIRdS0_ESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENS2_INS3_IT0_E4typeEE6__typeEEOS4_OS9_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt8optionalISt4pairIddEEC2IS1_TnNSt9enable_ifIX7__and_vISt6__not_ISt7is_sameIS2_NSt9remove_cvINSt16remove_referenceIT_E4typeEE4typeEEES5_IS6_ISt10in_place_tSD_EESt16is_constructibleIS1_JS9_EESt14is_convertibleIS9_S1_EEEbE4typeELb1EEEOS9_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt8optionalISt4pairIddEEC2ESt9nullopt_t(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE7reserveEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE12emplace_backIJPcEEERS5_DpOT_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNSt6vectorIdSaIdEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIdSaIdEEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #3 align 2

declare i32 @mj_stateSize(ptr noundef, i32 noundef) #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEE5clearEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

declare void @mj_getState(ptr noundef, ptr noundef, ptr noundef, i32 noundef) #4

declare void @mjv_makeScene(ptr noundef, ptr noundef, i32 noundef) #4

declare void @mjv_makeSceneState(ptr noundef, ptr noundef, ptr noundef, i32 noundef) #4

; Function Attrs: mustprogress uwtable
declare hidden void @_ZN12_GLOBAL__N_18UiModifyEP5mjUI_P10mjuiState_P11mjrContext_(ptr noundef, ptr noundef, ptr noundef) #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900)) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare hidden noundef i32 @_ZN6mujoco11sample_utilL10strcmp_arrILm1000ELm1000EEEiRAT__KcRAT0__S2_(ptr noundef nonnull align 1 dereferenceable(1000), ptr noundef nonnull align 1 dereferenceable(1000)) #6

; Function Attrs: inlinehint mustprogress uwtable
declare hidden noundef ptr @_ZN6mujoco11sample_utilL10strcat_arrILm200EEEPcRAT__cPKc(ptr noundef nonnull align 1 dereferenceable(200), ptr noundef) #5

; Function Attrs: mustprogress uwtable
declare hidden void @_ZN12_GLOBAL__N_114MakeUiSectionsEPN6mujoco8SimulateEPK8mjModel_PK7mjData_(ptr noundef, ptr noundef, ptr noundef) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt3_V222condition_variable_any10notify_allEv(ptr noundef nonnull align 8 dereferenceable(64)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3logf(float noundef) #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt4fabsf(float noundef) #6

attributes #0 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nounwind }

!llvm.module.flags = !{!0, !1, !2, !3}
!llvm.ident = !{!4}

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !6, i64 8}
!10 = !{!"_ZTSN6mujoco8SimulateE", !11, i64 0, !6, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !12, i64 48, !12, i64 52, !12, i64 56, !12, i64 60, !12, i64 64, !13, i64 72, !13, i64 96, !13, i64 120, !13, i64 144, !17, i64 168, !21, i64 192, !13, i64 216, !17, i64 240, !21, i64 264, !25, i64 288, !25, i64 312, !25, i64 336, !25, i64 360, !25, i64 384, !29, i64 408, !33, i64 11864, !44, i64 12168, !45, i64 12264, !12, i64 12328, !46, i64 12336, !53, i64 13064, !56, i64 13104, !12, i64 13168, !62, i64 13176, !34, i64 13184, !12, i64 13192, !12, i64 13196, !12, i64 13200, !12, i64 13204, !12, i64 13208, !12, i64 13212, !12, i64 13216, !12, i64 13220, !12, i64 13224, !12, i64 13228, !12, i64 13232, !12, i64 13236, !12, i64 13240, !12, i64 13244, !12, i64 13248, !12, i64 13252, !65, i64 13256, !65, i64 13260, !65, i64 13264, !65, i64 13268, !12, i64 13272, !7, i64 13276, !7, i64 14276, !7, i64 15276, !7, i64 16276, !12, i64 17276, !11, i64 17280, !31, i64 17284, !34, i64 17288, !34, i64 17296, !7, i64 17304, !12, i64 17604, !7, i64 17608, !7, i64 17668, !7, i64 17692, !12, i64 17716, !30, i64 17720, !6, i64 26488, !6, i64 26496, !6, i64 26504, !67, i64 26512, !67, i64 839460, !67, i64 1652408, !67, i64 2465356, !67, i64 3278304, !6, i64 4091256, !7, i64 4091264, !12, i64 4091276, !7, i64 4091280, !7, i64 4091288, !68, i64 4091296, !6, i64 4091304, !74, i64 4091312, !74, i64 7068880, !7, i64 10046448, !7, i64 10051128, !7, i64 10056168, !7, i64 10057968, !7, i64 10058968, !56, i64 10059968, !12, i64 10060032, !12, i64 10060036, !12, i64 10060040}
!11 = !{!"bool", !7, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = !{!"_ZTSSt6vectorIiSaIiEE", !14, i64 0}
!14 = !{!"_ZTSSt12_Vector_baseIiSaIiEE", !15, i64 0}
!15 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE12_Vector_implE", !16, i64 0}
!16 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!17 = !{!"_ZTSSt6vectorISt8optionalISt4pairIddEESaIS3_EE", !18, i64 0}
!18 = !{!"_ZTSSt12_Vector_baseISt8optionalISt4pairIddEESaIS3_EE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseISt8optionalISt4pairIddEESaIS3_EE12_Vector_implE", !20, i64 0}
!20 = !{!"_ZTSNSt12_Vector_baseISt8optionalISt4pairIddEESaIS3_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!21 = !{!"_ZTSSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE", !22, i64 0}
!22 = !{!"_ZTSSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE", !23, i64 0}
!23 = !{!"_ZTSNSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE12_Vector_implE", !24, i64 0}
!24 = !{!"_ZTSNSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!25 = !{!"_ZTSSt6vectorIdSaIdEE", !26, i64 0}
!26 = !{!"_ZTSSt12_Vector_baseIdSaIdEE", !27, i64 0}
!27 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE12_Vector_implE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!29 = !{!"_ZTS14mjvSceneState_", !12, i64 0, !6, i64 8, !12, i64 16, !30, i64 24, !32, i64 8792, !43, i64 11072}
!30 = !{!"_ZTS9mjvScene_", !12, i64 0, !12, i64 4, !6, i64 8, !6, i64 16, !12, i64 24, !6, i64 32, !6, i64 40, !6, i64 48, !6, i64 56, !6, i64 64, !6, i64 72, !6, i64 80, !6, i64 88, !6, i64 96, !6, i64 104, !6, i64 112, !6, i64 120, !7, i64 128, !7, i64 129, !7, i64 130, !7, i64 131, !12, i64 132, !6, i64 136, !6, i64 144, !6, i64 152, !6, i64 160, !6, i64 168, !12, i64 176, !7, i64 180, !7, i64 8580, !7, i64 8700, !7, i64 8704, !7, i64 8716, !31, i64 8732, !12, i64 8736, !7, i64 8740, !12, i64 8752, !7, i64 8756}
!31 = !{!"float", !7, i64 0}
!32 = !{!"_ZTSN14mjvSceneState_Ut_E", !12, i64 0, !12, i64 4, !12, i64 8, !12, i64 12, !12, i64 16, !12, i64 20, !12, i64 24, !12, i64 28, !12, i64 32, !12, i64 36, !12, i64 40, !12, i64 44, !12, i64 48, !12, i64 52, !12, i64 56, !12, i64 60, !12, i64 64, !12, i64 68, !12, i64 72, !12, i64 76, !12, i64 80, !12, i64 84, !12, i64 88, !12, i64 92, !12, i64 96, !12, i64 100, !12, i64 104, !12, i64 108, !12, i64 112, !12, i64 116, !33, i64 120, !35, i64 424, !42, i64 1048, !6, i64 1104, !6, i64 1112, !6, i64 1120, !6, i64 1128, !6, i64 1136, !6, i64 1144, !6, i64 1152, !6, i64 1160, !6, i64 1168, !6, i64 1176, !6, i64 1184, !6, i64 1192, !6, i64 1200, !6, i64 1208, !6, i64 1216, !6, i64 1224, !6, i64 1232, !6, i64 1240, !6, i64 1248, !6, i64 1256, !6, i64 1264, !6, i64 1272, !6, i64 1280, !6, i64 1288, !6, i64 1296, !6, i64 1304, !6, i64 1312, !6, i64 1320, !6, i64 1328, !6, i64 1336, !6, i64 1344, !6, i64 1352, !6, i64 1360, !6, i64 1368, !6, i64 1376, !6, i64 1384, !6, i64 1392, !6, i64 1400, !6, i64 1408, !6, i64 1416, !6, i64 1424, !6, i64 1432, !6, i64 1440, !6, i64 1448, !6, i64 1456, !6, i64 1464, !6, i64 1472, !6, i64 1480, !6, i64 1488, !6, i64 1496, !6, i64 1504, !6, i64 1512, !6, i64 1520, !6, i64 1528, !6, i64 1536, !6, i64 1544, !6, i64 1552, !6, i64 1560, !6, i64 1568, !6, i64 1576, !6, i64 1584, !6, i64 1592, !6, i64 1600, !6, i64 1608, !6, i64 1616, !6, i64 1624, !6, i64 1632, !6, i64 1640, !6, i64 1648, !6, i64 1656, !6, i64 1664, !6, i64 1672, !6, i64 1680, !6, i64 1688, !6, i64 1696, !6, i64 1704, !6, i64 1712, !6, i64 1720, !6, i64 1728, !6, i64 1736, !6, i64 1744, !6, i64 1752, !6, i64 1760, !6, i64 1768, !6, i64 1776, !6, i64 1784, !6, i64 1792, !6, i64 1800, !6, i64 1808, !6, i64 1816, !6, i64 1824, !6, i64 1832, !6, i64 1840, !6, i64 1848, !6, i64 1856, !6, i64 1864, !6, i64 1872, !6, i64 1880, !6, i64 1888, !6, i64 1896, !6, i64 1904, !6, i64 1912, !6, i64 1920, !6, i64 1928, !6, i64 1936, !6, i64 1944, !6, i64 1952, !6, i64 1960, !6, i64 1968, !6, i64 1976, !6, i64 1984, !6, i64 1992, !6, i64 2000, !6, i64 2008, !6, i64 2016, !6, i64 2024, !6, i64 2032, !6, i64 2040, !6, i64 2048, !6, i64 2056, !6, i64 2064, !6, i64 2072, !6, i64 2080, !6, i64 2088, !6, i64 2096, !6, i64 2104, !6, i64 2112, !6, i64 2120, !6, i64 2128, !6, i64 2136, !6, i64 2144, !6, i64 2152, !6, i64 2160, !6, i64 2168, !6, i64 2176, !6, i64 2184, !6, i64 2192, !6, i64 2200, !6, i64 2208, !6, i64 2216, !6, i64 2224, !6, i64 2232, !6, i64 2240, !6, i64 2248, !6, i64 2256, !6, i64 2264, !6, i64 2272}
!33 = !{!"_ZTS9mjOption_", !34, i64 0, !34, i64 8, !34, i64 16, !34, i64 24, !34, i64 32, !34, i64 40, !34, i64 48, !7, i64 56, !7, i64 80, !7, i64 104, !34, i64 128, !34, i64 136, !34, i64 144, !7, i64 152, !7, i64 168, !7, i64 208, !12, i64 248, !12, i64 252, !12, i64 256, !12, i64 260, !12, i64 264, !12, i64 268, !12, i64 272, !12, i64 276, !12, i64 280, !12, i64 284, !12, i64 288, !12, i64 292, !12, i64 296}
!34 = !{!"double", !7, i64 0}
!35 = !{!"_ZTS9mjVisual_", !36, i64 0, !37, i64 44, !38, i64 64, !39, i64 104, !40, i64 156, !41, i64 224}
!36 = !{!"_ZTSN9mjVisual_Ut_E", !31, i64 0, !31, i64 4, !31, i64 8, !31, i64 12, !31, i64 16, !31, i64 20, !31, i64 24, !12, i64 28, !12, i64 32, !12, i64 36, !12, i64 40}
!37 = !{!"_ZTSN9mjVisual_Ut0_E", !12, i64 0, !12, i64 4, !12, i64 8, !12, i64 12, !12, i64 16}
!38 = !{!"_ZTSN9mjVisual_Ut1_E", !7, i64 0, !7, i64 12, !7, i64 24, !12, i64 36}
!39 = !{!"_ZTSN9mjVisual_Ut2_E", !31, i64 0, !31, i64 4, !31, i64 8, !31, i64 12, !31, i64 16, !31, i64 20, !31, i64 24, !31, i64 28, !31, i64 32, !31, i64 36, !31, i64 40, !31, i64 44, !31, i64 48}
!40 = !{!"_ZTSN9mjVisual_Ut3_E", !31, i64 0, !31, i64 4, !31, i64 8, !31, i64 12, !31, i64 16, !31, i64 20, !31, i64 24, !31, i64 28, !31, i64 32, !31, i64 36, !31, i64 40, !31, i64 44, !31, i64 48, !31, i64 52, !31, i64 56, !31, i64 60, !31, i64 64}
!41 = !{!"_ZTSN9mjVisual_Ut4_E", !7, i64 0, !7, i64 16, !7, i64 32, !7, i64 48, !7, i64 64, !7, i64 80, !7, i64 96, !7, i64 112, !7, i64 128, !7, i64 144, !7, i64 160, !7, i64 176, !7, i64 192, !7, i64 208, !7, i64 224, !7, i64 240, !7, i64 256, !7, i64 272, !7, i64 288, !7, i64 304, !7, i64 320, !7, i64 336, !7, i64 352, !7, i64 368, !7, i64 384}
!42 = !{!"_ZTS12mjStatistic_", !34, i64 0, !34, i64 8, !34, i64 16, !34, i64 24, !7, i64 32}
!43 = !{!"_ZTSN14mjvSceneState_Ut0_E", !7, i64 0, !12, i64 64, !12, i64 68, !12, i64 72, !34, i64 80, !6, i64 88, !6, i64 96, !6, i64 104, !6, i64 112, !6, i64 120, !6, i64 128, !6, i64 136, !6, i64 144, !6, i64 152, !6, i64 160, !6, i64 168, !6, i64 176, !6, i64 184, !6, i64 192, !6, i64 200, !6, i64 208, !6, i64 216, !6, i64 224, !6, i64 232, !6, i64 240, !6, i64 248, !6, i64 256, !6, i64 264, !6, i64 272, !6, i64 280, !6, i64 288, !6, i64 296, !6, i64 304, !6, i64 312, !6, i64 320, !6, i64 328, !6, i64 336, !6, i64 344, !6, i64 352, !6, i64 360, !6, i64 368, !6, i64 376}
!44 = !{!"_ZTS10mjvOption_", !12, i64 0, !12, i64 4, !7, i64 8, !7, i64 14, !7, i64 20, !7, i64 26, !7, i64 32, !7, i64 38, !7, i64 44, !7, i64 50, !12, i64 84, !12, i64 88}
!45 = !{!"_ZTS10mjvCamera_", !12, i64 0, !12, i64 4, !12, i64 8, !7, i64 16, !34, i64 40, !34, i64 48, !34, i64 56}
!46 = !{!"_ZTSN6mujoco8SimulateUt_E", !47, i64 0, !47, i64 40, !47, i64 80, !47, i64 120, !11, i64 160, !11, i64 161, !11, i64 162, !11, i64 163, !11, i64 164, !11, i64 165, !11, i64 166, !12, i64 168, !11, i64 172, !52, i64 176, !11, i64 720, !11, i64 721, !11, i64 722, !11, i64 723, !11, i64 724, !11, i64 725}
!47 = !{!"_ZTSSt8optionalINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEE", !48, i64 0}
!48 = !{!"_ZTSSt14_Optional_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEELb0ELb0EE", !49, i64 0}
!49 = !{!"_ZTSSt17_Optional_payloadINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEELb0ELb0ELb0EE", !50, i64 0}
!50 = !{!"_ZTSSt17_Optional_payloadINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEELb1ELb0ELb0EE", !51, i64 0}
!51 = !{!"_ZTSSt22_Optional_payload_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEE", !7, i64 0, !11, i64 32}
!52 = !{!"_ZTS10mjuiState_", !12, i64 0, !7, i64 4, !6, i64 408, !12, i64 416, !12, i64 420, !12, i64 424, !12, i64 428, !12, i64 432, !12, i64 436, !34, i64 440, !34, i64 448, !34, i64 456, !34, i64 464, !34, i64 472, !34, i64 480, !34, i64 488, !12, i64 496, !12, i64 500, !12, i64 504, !12, i64 508, !34, i64 512, !12, i64 520, !12, i64 524, !12, i64 528, !12, i64 532, !6, i64 536}
!53 = !{!"_ZTSN6mujoco13SimulateMutexE", !54, i64 0}
!54 = !{!"_ZTSSt15recursive_mutex", !55, i64 0}
!55 = !{!"_ZTSSt22__recursive_mutex_base", !7, i64 0}
!56 = !{!"_ZTSNSt3_V222condition_variable_anyE", !57, i64 0, !59, i64 48}
!57 = !{!"_ZTSSt18condition_variable", !58, i64 0}
!58 = !{!"_ZTSSt9__condvar", !7, i64 0}
!59 = !{!"_ZTSSt10shared_ptrISt5mutexE", !60, i64 0}
!60 = !{!"_ZTSSt12__shared_ptrISt5mutexLN9__gnu_cxx12_Lock_policyE2EE", !6, i64 0, !61, i64 8}
!61 = !{!"_ZTSSt14__shared_countILN9__gnu_cxx12_Lock_policyE2EE", !6, i64 0}
!62 = !{!"_ZTSNSt6chrono10time_pointINS_3_V212steady_clockENS_8durationIlSt5ratioILl1ELl1000000000EEEEEE", !63, i64 0}
!63 = !{!"_ZTSNSt6chrono8durationIlSt5ratioILl1ELl1000000000EEEE", !64, i64 0}
!64 = !{!"long", !7, i64 0}
!65 = !{!"_ZTSSt6atomicIiE", !66, i64 0}
!66 = !{!"_ZTSSt13__atomic_baseIiE", !12, i64 0}
!67 = !{!"_ZTS10mjvFigure_", !12, i64 0, !7, i64 4, !12, i64 12, !12, i64 16, !12, i64 20, !12, i64 24, !31, i64 28, !31, i64 32, !7, i64 36, !7, i64 44, !7, i64 56, !7, i64 72, !7, i64 88, !7, i64 104, !7, i64 116, !7, i64 1316, !7, i64 1332, !7, i64 1352, !7, i64 1372, !7, i64 1392, !7, i64 2392, !7, i64 2492, !12, i64 12492, !12, i64 12496, !7, i64 12500, !12, i64 12508, !31, i64 12512, !7, i64 12516, !7, i64 12916, !7, i64 812916, !7, i64 812924, !7, i64 812932, !7, i64 812940}
!68 = !{!"_ZTSSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EE", !69, i64 0}
!69 = !{!"_ZTSSt15__uniq_ptr_dataIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_ELb1ELb1EE", !70, i64 0}
!70 = !{!"_ZTSSt15__uniq_ptr_implIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EE", !71, i64 0}
!71 = !{!"_ZTSSt5tupleIJPN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEE", !72, i64 0}
!72 = !{!"_ZTSSt11_Tuple_implILm0EJPN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEE", !73, i64 0}
!73 = !{!"_ZTSSt10_Head_baseILm0EPN6mujoco17PlatformUIAdapterELb0EE", !6, i64 0}
!74 = !{!"_ZTS5mjUI_", !75, i64 0, !76, i64 44, !6, i64 296, !6, i64 304, !12, i64 312, !12, i64 316, !12, i64 320, !12, i64 324, !12, i64 328, !12, i64 332, !12, i64 336, !12, i64 340, !12, i64 344, !12, i64 348, !12, i64 352, !12, i64 356, !12, i64 360, !12, i64 364, !7, i64 368, !6, i64 672, !12, i64 680, !7, i64 688}
!75 = !{!"_ZTS17mjuiThemeSpacing_", !12, i64 0, !12, i64 4, !12, i64 8, !12, i64 12, !12, i64 16, !12, i64 20, !12, i64 24, !12, i64 28, !12, i64 32, !12, i64 36, !12, i64 40}
!76 = !{!"_ZTS15mjuiThemeColor_", !7, i64 0, !7, i64 12, !7, i64 24, !7, i64 36, !7, i64 48, !7, i64 60, !7, i64 72, !7, i64 84, !7, i64 96, !7, i64 108, !7, i64 120, !7, i64 132, !7, i64 144, !7, i64 156, !7, i64 168, !7, i64 180, !7, i64 192, !7, i64 204, !7, i64 216, !7, i64 228, !7, i64 240}
!77 = !{!10, !6, i64 24}
!78 = !{!10, !6, i64 16}
!79 = !{!10, !6, i64 32}
!80 = !{!81, !12, i64 44}
!81 = !{!"_ZTS8mjModel_", !12, i64 0, !12, i64 4, !12, i64 8, !12, i64 12, !12, i64 16, !12, i64 20, !12, i64 24, !12, i64 28, !12, i64 32, !12, i64 36, !12, i64 40, !12, i64 44, !12, i64 48, !12, i64 52, !12, i64 56, !12, i64 60, !12, i64 64, !12, i64 68, !12, i64 72, !12, i64 76, !12, i64 80, !12, i64 84, !12, i64 88, !12, i64 92, !12, i64 96, !12, i64 100, !12, i64 104, !12, i64 108, !12, i64 112, !12, i64 116, !12, i64 120, !12, i64 124, !12, i64 128, !12, i64 132, !12, i64 136, !12, i64 140, !12, i64 144, !12, i64 148, !12, i64 152, !12, i64 156, !12, i64 160, !12, i64 164, !12, i64 168, !12, i64 172, !12, i64 176, !12, i64 180, !12, i64 184, !12, i64 188, !12, i64 192, !12, i64 196, !12, i64 200, !12, i64 204, !12, i64 208, !12, i64 212, !12, i64 216, !12, i64 220, !12, i64 224, !12, i64 228, !12, i64 232, !12, i64 236, !12, i64 240, !12, i64 244, !12, i64 248, !12, i64 252, !12, i64 256, !12, i64 260, !12, i64 264, !12, i64 268, !12, i64 272, !12, i64 276, !12, i64 280, !12, i64 284, !12, i64 288, !12, i64 292, !12, i64 296, !64, i64 304, !64, i64 312, !33, i64 320, !35, i64 624, !42, i64 1248, !6, i64 1304, !6, i64 1312, !6, i64 1320, !6, i64 1328, !6, i64 1336, !6, i64 1344, !6, i64 1352, !6, i64 1360, !6, i64 1368, !6, i64 1376, !6, i64 1384, !6, i64 1392, !6, i64 1400, !6, i64 1408, !6, i64 1416, !6, i64 1424, !6, i64 1432, !6, i64 1440, !6, i64 1448, !6, i64 1456, !6, i64 1464, !6, i64 1472, !6, i64 1480, !6, i64 1488, !6, i64 1496, !6, i64 1504, !6, i64 1512, !6, i64 1520, !6, i64 1528, !6, i64 1536, !6, i64 1544, !6, i64 1552, !6, i64 1560, !6, i64 1568, !6, i64 1576, !6, i64 1584, !6, i64 1592, !6, i64 1600, !6, i64 1608, !6, i64 1616, !6, i64 1624, !6, i64 1632, !6, i64 1640, !6, i64 1648, !6, i64 1656, !6, i64 1664, !6, i64 1672, !6, i64 1680, !6, i64 1688, !6, i64 1696, !6, i64 1704, !6, i64 1712, !6, i64 1720, !6, i64 1728, !6, i64 1736, !6, i64 1744, !6, i64 1752, !6, i64 1760, !6, i64 1768, !6, i64 1776, !6, i64 1784, !6, i64 1792, !6, i64 1800, !6, i64 1808, !6, i64 1816, !6, i64 1824, !6, i64 1832, !6, i64 1840, !6, i64 1848, !6, i64 1856, !6, i64 1864, !6, i64 1872, !6, i64 1880, !6, i64 1888, !6, i64 1896, !6, i64 1904, !6, i64 1912, !6, i64 1920, !6, i64 1928, !6, i64 1936, !6, i64 1944, !6, i64 1952, !6, i64 1960, !6, i64 1968, !6, i64 1976, !6, i64 1984, !6, i64 1992, !6, i64 2000, !6, i64 2008, !6, i64 2016, !6, i64 2024, !6, i64 2032, !6, i64 2040, !6, i64 2048, !6, i64 2056, !6, i64 2064, !6, i64 2072, !6, i64 2080, !6, i64 2088, !6, i64 2096, !6, i64 2104, !6, i64 2112, !6, i64 2120, !6, i64 2128, !6, i64 2136, !6, i64 2144, !6, i64 2152, !6, i64 2160, !6, i64 2168, !6, i64 2176, !6, i64 2184, !6, i64 2192, !6, i64 2200, !6, i64 2208, !6, i64 2216, !6, i64 2224, !6, i64 2232, !6, i64 2240, !6, i64 2248, !6, i64 2256, !6, i64 2264, !6, i64 2272, !6, i64 2280, !6, i64 2288, !6, i64 2296, !6, i64 2304, !6, i64 2312, !6, i64 2320, !6, i64 2328, !6, i64 2336, !6, i64 2344, !6, i64 2352, !6, i64 2360, !6, i64 2368, !6, i64 2376, !6, i64 2384, !6, i64 2392, !6, i64 2400, !6, i64 2408, !6, i64 2416, !6, i64 2424, !6, i64 2432, !6, i64 2440, !6, i64 2448, !6, i64 2456, !6, i64 2464, !6, i64 2472, !6, i64 2480, !6, i64 2488, !6, i64 2496, !6, i64 2504, !6, i64 2512, !6, i64 2520, !6, i64 2528, !6, i64 2536, !6, i64 2544, !6, i64 2552, !6, i64 2560, !6, i64 2568, !6, i64 2576, !6, i64 2584, !6, i64 2592, !6, i64 2600, !6, i64 2608, !6, i64 2616, !6, i64 2624, !6, i64 2632, !6, i64 2640, !6, i64 2648, !6, i64 2656, !6, i64 2664, !6, i64 2672, !6, i64 2680, !6, i64 2688, !6, i64 2696, !6, i64 2704, !6, i64 2712, !6, i64 2720, !6, i64 2728, !6, i64 2736, !6, i64 2744, !6, i64 2752, !6, i64 2760, !6, i64 2768, !6, i64 2776, !6, i64 2784, !6, i64 2792, !6, i64 2800, !6, i64 2808, !6, i64 2816, !6, i64 2824, !6, i64 2832, !6, i64 2840, !6, i64 2848, !6, i64 2856, !6, i64 2864, !6, i64 2872, !6, i64 2880, !6, i64 2888, !6, i64 2896, !6, i64 2904, !6, i64 2912, !6, i64 2920, !6, i64 2928, !6, i64 2936, !6, i64 2944, !6, i64 2952, !6, i64 2960, !6, i64 2968, !6, i64 2976, !6, i64 2984, !6, i64 2992, !6, i64 3000, !6, i64 3008, !6, i64 3016, !6, i64 3024, !6, i64 3032, !6, i64 3040, !6, i64 3048, !6, i64 3056, !6, i64 3064, !6, i64 3072, !6, i64 3080, !6, i64 3088, !6, i64 3096, !6, i64 3104, !6, i64 3112, !6, i64 3120, !6, i64 3128, !6, i64 3136, !6, i64 3144, !6, i64 3152, !6, i64 3160, !6, i64 3168, !6, i64 3176, !6, i64 3184, !6, i64 3192, !6, i64 3200, !6, i64 3208, !6, i64 3216, !6, i64 3224, !6, i64 3232, !6, i64 3240, !6, i64 3248, !6, i64 3256, !6, i64 3264, !6, i64 3272, !6, i64 3280, !6, i64 3288, !6, i64 3296, !6, i64 3304, !6, i64 3312, !6, i64 3320, !6, i64 3328, !6, i64 3336, !6, i64 3344, !6, i64 3352, !6, i64 3360, !6, i64 3368, !6, i64 3376, !6, i64 3384, !6, i64 3392, !6, i64 3400, !6, i64 3408, !6, i64 3416, !6, i64 3424, !6, i64 3432, !6, i64 3440, !6, i64 3448, !6, i64 3456, !6, i64 3464, !6, i64 3472, !6, i64 3480, !6, i64 3488, !6, i64 3496, !6, i64 3504, !6, i64 3512, !6, i64 3520, !6, i64 3528, !6, i64 3536, !6, i64 3544, !6, i64 3552, !6, i64 3560, !6, i64 3568, !6, i64 3576, !6, i64 3584, !6, i64 3592, !6, i64 3600, !6, i64 3608, !6, i64 3616, !6, i64 3624, !6, i64 3632, !6, i64 3640, !6, i64 3648, !6, i64 3656, !6, i64 3664, !6, i64 3672, !6, i64 3680, !6, i64 3688, !6, i64 3696, !6, i64 3704, !6, i64 3712, !6, i64 3720, !6, i64 3728, !6, i64 3736, !6, i64 3744, !6, i64 3752, !6, i64 3760, !6, i64 3768, !6, i64 3776, !6, i64 3784, !6, i64 3792, !6, i64 3800, !6, i64 3808, !6, i64 3816, !6, i64 3824, !6, i64 3832, !6, i64 3840, !6, i64 3848, !6, i64 3856, !6, i64 3864, !6, i64 3872, !6, i64 3880, !6, i64 3888, !6, i64 3896, !6, i64 3904, !6, i64 3912, !6, i64 3920, !6, i64 3928, !6, i64 3936, !6, i64 3944, !6, i64 3952, !6, i64 3960, !6, i64 3968, !6, i64 3976, !6, i64 3984, !6, i64 3992, !6, i64 4000, !6, i64 4008, !6, i64 4016, !6, i64 4024, !6, i64 4032, !6, i64 4040, !6, i64 4048, !6, i64 4056, !6, i64 4064, !6, i64 4072, !6, i64 4080, !6, i64 4088, !6, i64 4096, !6, i64 4104, !6, i64 4112, !6, i64 4120, !6, i64 4128, !6, i64 4136, !6, i64 4144, !6, i64 4152, !6, i64 4160, !6, i64 4168, !6, i64 4176, !6, i64 4184, !6, i64 4192, !6, i64 4200, !6, i64 4208, !6, i64 4216, !6, i64 4224, !6, i64 4232, !6, i64 4240, !6, i64 4248, !6, i64 4256, !6, i64 4264, !6, i64 4272, !6, i64 4280}
!82 = !{!10, !12, i64 48}
!83 = !{!81, !12, i64 200}
!84 = !{!10, !12, i64 52}
!85 = !{!81, !12, i64 16}
!86 = !{!81, !6, i64 1328}
!87 = !{!81, !12, i64 32}
!88 = !{!81, !6, i64 1592}
!89 = !{!81, !6, i64 1624}
!90 = !{!81, !6, i64 1600}
!91 = !{!12, !12, i64 0}
!92 = !{!81, !6, i64 1632}
!93 = !{!7, !7, i64 0}
!94 = !{!81, !6, i64 1696}
!95 = distinct !{!95, !96}
!96 = !{!"llvm.loop.mustprogress"}
!97 = !{!81, !6, i64 4264}
!98 = !{!81, !6, i64 4088}
!99 = distinct !{!99, !96}
!100 = !{!81, !12, i64 8}
!101 = !{!81, !6, i64 3648}
!102 = !{!81, !6, i64 3656}
!103 = !{!81, !6, i64 3712}
!104 = distinct !{!104, !96}
!105 = !{!81, !6, i64 4208}
!106 = distinct !{!106, !96}
!107 = !{!81, !12, i64 0}
!108 = !{!109, !6, i64 161656}
!109 = !{!"_ZTS7mjData_", !64, i64 0, !64, i64 8, !12, i64 16, !64, i64 24, !64, i64 32, !64, i64 40, !64, i64 48, !7, i64 56, !64, i64 1080, !12, i64 1088, !12, i64 1092, !7, i64 1096, !7, i64 1160, !7, i64 1400, !12, i64 161400, !7, i64 161404, !7, i64 161484, !7, i64 161568, !12, i64 161584, !12, i64 161588, !12, i64 161592, !12, i64 161596, !12, i64 161600, !12, i64 161604, !12, i64 161608, !34, i64 161616, !7, i64 161624, !6, i64 161640, !6, i64 161648, !6, i64 161656, !6, i64 161664, !6, i64 161672, !6, i64 161680, !6, i64 161688, !6, i64 161696, !6, i64 161704, !6, i64 161712, !6, i64 161720, !6, i64 161728, !6, i64 161736, !6, i64 161744, !6, i64 161752, !6, i64 161760, !6, i64 161768, !6, i64 161776, !6, i64 161784, !6, i64 161792, !6, i64 161800, !6, i64 161808, !6, i64 161816, !6, i64 161824, !6, i64 161832, !6, i64 161840, !6, i64 161848, !6, i64 161856, !6, i64 161864, !6, i64 161872, !6, i64 161880, !6, i64 161888, !6, i64 161896, !6, i64 161904, !6, i64 161912, !6, i64 161920, !6, i64 161928, !6, i64 161936, !6, i64 161944, !6, i64 161952, !6, i64 161960, !6, i64 161968, !6, i64 161976, !6, i64 161984, !6, i64 161992, !6, i64 162000, !6, i64 162008, !6, i64 162016, !6, i64 162024, !6, i64 162032, !6, i64 162040, !6, i64 162048, !6, i64 162056, !6, i64 162064, !6, i64 162072, !6, i64 162080, !6, i64 162088, !6, i64 162096, !6, i64 162104, !6, i64 162112, !6, i64 162120, !6, i64 162128, !6, i64 162136, !6, i64 162144, !6, i64 162152, !6, i64 162160, !6, i64 162168, !6, i64 162176, !6, i64 162184, !6, i64 162192, !6, i64 162200, !6, i64 162208, !6, i64 162216, !6, i64 162224, !6, i64 162232, !6, i64 162240, !6, i64 162248, !6, i64 162256, !6, i64 162264, !6, i64 162272, !6, i64 162280, !6, i64 162288, !6, i64 162296, !6, i64 162304, !6, i64 162312, !6, i64 162320, !6, i64 162328, !6, i64 162336, !6, i64 162344, !6, i64 162352, !6, i64 162360, !6, i64 162368, !6, i64 162376, !6, i64 162384, !6, i64 162392, !6, i64 162400, !6, i64 162408, !6, i64 162416, !6, i64 162424, !6, i64 162432, !6, i64 162440, !6, i64 162448, !6, i64 162456, !6, i64 162464, !6, i64 162472, !6, i64 162480, !6, i64 162488, !6, i64 162496, !6, i64 162504, !6, i64 162512, !6, i64 162520, !6, i64 162528, !6, i64 162536, !6, i64 162544, !6, i64 162552, !6, i64 162560, !6, i64 162568, !6, i64 162576, !6, i64 162584, !6, i64 162592, !6, i64 162600, !6, i64 162608, !6, i64 162616, !6, i64 162624, !6, i64 162632, !6, i64 162640, !6, i64 162648, !6, i64 162656, !6, i64 162664, !6, i64 162672, !6, i64 162680, !6, i64 162688, !6, i64 162696, !64, i64 162704}
!110 = !{!109, !6, i64 161696}
!111 = !{!10, !11, i64 0}
!112 = !{i8 0, i8 2}
!113 = !{}
!114 = !{!10, !12, i64 56}
!115 = !{!10, !12, i64 60}
!116 = !{!10, !12, i64 64}
!117 = !{!10, !12, i64 13248}
!118 = distinct !{!118, !96}
!119 = !{i64 0, i64 8, !120, i64 8, i64 8, !120, i64 16, i64 8, !120, i64 24, i64 8, !120, i64 32, i64 8, !120, i64 40, i64 8, !120, i64 48, i64 8, !120, i64 56, i64 24, !93, i64 80, i64 24, !93, i64 104, i64 24, !93, i64 128, i64 8, !120, i64 136, i64 8, !120, i64 144, i64 8, !120, i64 152, i64 16, !93, i64 168, i64 40, !93, i64 208, i64 40, !93, i64 248, i64 4, !91, i64 252, i64 4, !91, i64 256, i64 4, !91, i64 260, i64 4, !91, i64 264, i64 4, !91, i64 268, i64 4, !91, i64 272, i64 4, !91, i64 276, i64 4, !91, i64 280, i64 4, !91, i64 284, i64 4, !91, i64 288, i64 4, !91, i64 292, i64 4, !91, i64 296, i64 4, !91}
!120 = !{!34, !34, i64 0}
!121 = !{!10, !6, i64 26496}
!122 = !{i64 0, i64 4, !91, i64 4, i64 4, !91, i64 8, i64 6, !93, i64 14, i64 6, !93, i64 20, i64 6, !93, i64 26, i64 6, !93, i64 32, i64 6, !93, i64 38, i64 6, !93, i64 44, i64 6, !93, i64 50, i64 32, !93, i64 84, i64 4, !91, i64 88, i64 4, !91}
!123 = !{!10, !6, i64 26488}
!124 = !{i64 0, i64 4, !91, i64 4, i64 4, !91, i64 8, i64 4, !91, i64 16, i64 24, !93, i64 40, i64 8, !120, i64 48, i64 8, !120, i64 56, i64 8, !120}
!125 = !{!126, !12, i64 4}
!126 = !{!"_ZTS14mjWarningStat_", !12, i64 0, !12, i64 4}
!127 = !{!10, !12, i64 12328}
!128 = !{!10, !12, i64 13200}
!129 = !{!130, !130, i64 0}
!130 = !{!"vtable pointer", !8, i64 0}
!131 = !{!10, !6, i64 4091304}
!132 = !{!10, !6, i64 4091256}
!133 = !{!10, !6, i64 26504}
!134 = !{!135, !12, i64 12}
!135 = !{!"_ZTS11mjvPerturb_", !12, i64 0, !12, i64 4, !12, i64 8, !12, i64 12, !12, i64 16, !7, i64 24, !7, i64 48, !7, i64 80, !7, i64 104, !34, i64 128, !34, i64 136}
!136 = !{!135, !12, i64 0}
!137 = !{!135, !12, i64 4}
!138 = !{!135, !12, i64 8}
!139 = !{!10, !12, i64 13272}
!140 = !{!31, !31, i64 0}
!141 = !{!81, !31, i64 648}
!142 = !{!10, !12, i64 17276}
!143 = distinct !{!143, !96}


; Optimized IR (opt -passes='default<O3>'):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

%"class.std::optional.32" = type { %"struct.std::_Optional_base.33" }
%"struct.std::_Optional_base.33" = type { %"struct.std::_Optional_payload.35" }
%"struct.std::_Optional_payload.35" = type { %"struct.std::_Optional_payload_base.base.37", [7 x i8] }
%"struct.std::_Optional_payload_base.base.37" = type <{ %"union.std::_Optional_payload_base<std::pair<double, double>>::_Storage", i8 }>
%"union.std::_Optional_payload_base<std::pair<double, double>>::_Storage" = type { %"struct.std::pair" }
%"struct.std::pair" = type { double, double }

@__const._ZN6mujoco8Simulate18LoadOnRenderThreadEv.title = external hidden unnamed_addr constant [200 x i8], align 16
@_ZN6mujoco8Simulate15percentRealTimeE = external dso_local local_unnamed_addr constant [31 x float], align 16

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #2

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare hidden void @_ZN12_GLOBAL__N_117AlignAndScaleViewEPN6mujoco8SimulateEPK8mjModel_(ptr noundef, ptr noundef) local_unnamed_addr #3

declare void @mju_copy(ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #4

declare void @mjv_updateScene(ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #4

declare void @mjv_updateSceneState(ptr noundef, ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress uwtable
declare hidden void @_ZN12_GLOBAL__N_14CopyIA10_hEEvRT_RKS2_(ptr noundef nonnull align 1 dereferenceable(10), ptr noundef nonnull align 1 dereferenceable(10)) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare hidden void @_ZN12_GLOBAL__N_114UpdateSettingsEPN6mujoco8SimulateEPK8mjModel_(ptr noundef, ptr noundef) local_unnamed_addr #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare hidden noundef ptr @_ZN6mujoco11sample_utilL10strcpy_arrILm1000EEEPcRAT__cPKc(ptr noundef nonnull align 1 dereferenceable(1000), ptr noundef) local_unnamed_addr #6

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN6mujoco8Simulate18LoadOnRenderThreadEv(ptr noundef nonnull align 8 dereferenceable(10060044) %0) local_unnamed_addr #3 align 2 {
  %2 = alloca %"class.std::optional.32", align 8
  %3 = alloca %"struct.std::pair", align 8
  %4 = alloca %"class.std::optional.32", align 8
  %5 = alloca ptr, align 8
  %6 = alloca %"class.std::optional.32", align 8
  %7 = alloca %"struct.std::pair", align 8
  %8 = alloca %"class.std::optional.32", align 8
  %9 = alloca ptr, align 8
  %10 = alloca [200 x i8], align 16
  %11 = getelementptr inbounds i8, ptr %0, i64 8
  %12 = load ptr, ptr %11, align 8, !tbaa !5
  %13 = getelementptr inbounds i8, ptr %0, i64 24
  store ptr %12, ptr %13, align 8, !tbaa !76
  %14 = getelementptr inbounds i8, ptr %0, i64 16
  %15 = load ptr, ptr %14, align 8, !tbaa !77
  %16 = getelementptr inbounds i8, ptr %0, i64 32
  store ptr %15, ptr %16, align 8, !tbaa !78
  %17 = getelementptr inbounds i8, ptr %12, i64 44
  %18 = load i32, ptr %17, align 4, !tbaa !79
  %19 = getelementptr inbounds i8, ptr %0, i64 48
  store i32 %18, ptr %19, align 8, !tbaa !81
  %20 = getelementptr inbounds i8, ptr %12, i64 200
  %21 = load i32, ptr %20, align 8, !tbaa !82
  %22 = getelementptr inbounds i8, ptr %0, i64 52
  store i32 %21, ptr %22, align 4, !tbaa !83
  %23 = getelementptr inbounds i8, ptr %0, i64 72
  %24 = getelementptr inbounds i8, ptr %12, i64 16
  %25 = load i32, ptr %24, align 8, !tbaa !84
  %26 = sext i32 %25 to i64
  tail call void @_ZNSt6vectorIiSaIiEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %23, i64 noundef %26)
  %27 = tail call noundef ptr @_ZNSt6vectorIiSaIiEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %23) #9
  %28 = load ptr, ptr %13, align 8, !tbaa !76
  %29 = getelementptr inbounds i8, ptr %28, i64 1328
  %30 = load ptr, ptr %29, align 8, !tbaa !85
  %31 = getelementptr inbounds i8, ptr %28, i64 16
  %32 = load i32, ptr %31, align 8, !tbaa !84
  %33 = sext i32 %32 to i64
  %34 = shl nsw i64 %33, 2
  tail call void @llvm.memcpy.p0.p0.i64(ptr align 4 %27, ptr align 4 %30, i64 %34, i1 false)
  %35 = getelementptr inbounds i8, ptr %0, i64 96
  %36 = load ptr, ptr %13, align 8, !tbaa !76
  %37 = getelementptr inbounds i8, ptr %36, i64 32
  %38 = load i32, ptr %37, align 8, !tbaa !86
  %39 = sext i32 %38 to i64
  tail call void @_ZNSt6vectorIiSaIiEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %35, i64 noundef %39)
  %40 = tail call noundef ptr @_ZNSt6vectorIiSaIiEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %35) #9
  %41 = load ptr, ptr %13, align 8, !tbaa !76
  %42 = getelementptr inbounds i8, ptr %41, i64 1592
  %43 = load ptr, ptr %42, align 8, !tbaa !87
  %44 = getelementptr inbounds i8, ptr %41, i64 32
  %45 = load i32, ptr %44, align 8, !tbaa !86
  %46 = sext i32 %45 to i64
  %47 = shl nsw i64 %46, 2
  tail call void @llvm.memcpy.p0.p0.i64(ptr align 4 %40, ptr align 4 %43, i64 %47, i1 false)
  %48 = getelementptr inbounds i8, ptr %0, i64 120
  %49 = load ptr, ptr %13, align 8, !tbaa !76
  %50 = getelementptr inbounds i8, ptr %49, i64 32
  %51 = load i32, ptr %50, align 8, !tbaa !86
  %52 = sext i32 %51 to i64
  tail call void @_ZNSt6vectorIiSaIiEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %48, i64 noundef %52)
  %53 = tail call noundef ptr @_ZNSt6vectorIiSaIiEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %48) #9
  %54 = load ptr, ptr %13, align 8, !tbaa !76
  %55 = getelementptr inbounds i8, ptr %54, i64 1624
  %56 = load ptr, ptr %55, align 8, !tbaa !88
  %57 = getelementptr inbounds i8, ptr %54, i64 32
  %58 = load i32, ptr %57, align 8, !tbaa !86
  %59 = sext i32 %58 to i64
  %60 = shl nsw i64 %59, 2
  tail call void @llvm.memcpy.p0.p0.i64(ptr align 4 %53, ptr align 4 %56, i64 %60, i1 false)
  %61 = getelementptr inbounds i8, ptr %0, i64 144
  %62 = load ptr, ptr %13, align 8, !tbaa !76
  %63 = getelementptr inbounds i8, ptr %62, i64 32
  %64 = load i32, ptr %63, align 8, !tbaa !86
  %65 = sext i32 %64 to i64
  tail call void @_ZNSt6vectorIiSaIiEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef %65)
  %66 = tail call noundef ptr @_ZNSt6vectorIiSaIiEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %61) #9
  %67 = load ptr, ptr %13, align 8, !tbaa !76
  %68 = getelementptr inbounds i8, ptr %67, i64 1600
  %69 = load ptr, ptr %68, align 8, !tbaa !89
  %70 = getelementptr inbounds i8, ptr %67, i64 32
  %71 = load i32, ptr %70, align 8, !tbaa !86
  %72 = sext i32 %71 to i64
  %73 = shl nsw i64 %72, 2
  tail call void @llvm.memcpy.p0.p0.i64(ptr align 4 %66, ptr align 4 %69, i64 %73, i1 false)
  %74 = getelementptr inbounds i8, ptr %0, i64 168
  tail call void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %74) #9
  %75 = load ptr, ptr %13, align 8, !tbaa !76
  %76 = getelementptr inbounds i8, ptr %75, i64 32
  %77 = load i32, ptr %76, align 8, !tbaa !86
  %78 = sext i32 %77 to i64
  tail call void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE7reserveEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %78)
  %79 = load ptr, ptr %13, align 8, !tbaa !76
  %80 = getelementptr inbounds i8, ptr %79, i64 32
  %81 = load i32, ptr %80, align 8, !tbaa !86
  %82 = icmp sgt i32 %81, 0
  br i1 %82, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %1
  %83 = getelementptr inbounds i8, ptr %3, i64 8
  br label %93

._crit_edge:                                      ; preds = %110, %1
  %84 = getelementptr inbounds i8, ptr %0, i64 192
  call void @_ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %84) #9
  %85 = load ptr, ptr %13, align 8, !tbaa !76
  %86 = getelementptr inbounds i8, ptr %85, i64 32
  %87 = load i32, ptr %86, align 8, !tbaa !86
  %88 = sext i32 %87 to i64
  call void @_ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE7reserveEm(ptr noundef nonnull align 8 dereferenceable(24) %84, i64 noundef %88)
  %89 = load ptr, ptr %13, align 8, !tbaa !76
  %90 = getelementptr inbounds i8, ptr %89, i64 32
  %91 = load i32, ptr %90, align 8, !tbaa !86
  %92 = icmp sgt i32 %91, 0
  br i1 %92, label %.lr.ph56, label %._crit_edge57

93:                                               ; preds = %.lr.ph, %110
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %110 ]
  %94 = phi ptr [ %79, %.lr.ph ], [ %111, %110 ]
  %95 = getelementptr inbounds i8, ptr %94, i64 1632
  %96 = load ptr, ptr %95, align 8, !tbaa !90
  %97 = getelementptr inbounds i8, ptr %96, i64 %indvars.iv
  %98 = load i8, ptr %97, align 1, !tbaa !91
  %.not51 = icmp eq i8 %98, 0
  br i1 %.not51, label %109, label %99

99:                                               ; preds = %93
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %2) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %3) #9
  %100 = getelementptr inbounds i8, ptr %94, i64 1696
  %101 = load ptr, ptr %100, align 8, !tbaa !92
  %102 = shl nuw nsw i64 %indvars.iv, 1
  %103 = getelementptr inbounds double, ptr %101, i64 %102
  %104 = or disjoint i64 %102, 1
  %105 = getelementptr inbounds double, ptr %101, i64 %104
  %106 = call { double, double } @_ZSt9make_pairIRdS0_ESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENS2_INS3_IT0_E4typeEE6__typeEEOS4_OS9_(ptr noundef nonnull align 8 dereferenceable(8) %103, ptr noundef nonnull align 8 dereferenceable(8) %105)
  %107 = extractvalue { double, double } %106, 0
  store double %107, ptr %3, align 8
  %108 = extractvalue { double, double } %106, 1
  store double %108, ptr %83, align 8
  call void @_ZNSt8optionalISt4pairIddEEC2IS1_TnNSt9enable_ifIX7__and_vISt6__not_ISt7is_sameIS2_NSt9remove_cvINSt16remove_referenceIT_E4typeEE4typeEEES5_IS6_ISt10in_place_tSD_EESt16is_constructibleIS1_JS9_EESt14is_convertibleIS9_S1_EEEbE4typeELb1EEEOS9_(ptr noundef nonnull align 8 dereferenceable(24) %2, ptr noundef nonnull align 8 dereferenceable(16) %3) #9
  call void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE9push_backEOS3_(ptr noundef nonnull align 8 dereferenceable(24) %74, ptr noundef nonnull align 8 dereferenceable(24) %2)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %3) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %2) #9
  br label %110

109:                                              ; preds = %93
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %4) #9
  call void @_ZNSt8optionalISt4pairIddEEC2ESt9nullopt_t(ptr noundef nonnull align 8 dereferenceable(24) %4) #9
  call void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE9push_backEOS3_(ptr noundef nonnull align 8 dereferenceable(24) %74, ptr noundef nonnull align 8 dereferenceable(24) %4)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #9
  br label %110

110:                                              ; preds = %99, %109
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %111 = load ptr, ptr %13, align 8, !tbaa !76
  %112 = getelementptr inbounds i8, ptr %111, i64 32
  %113 = load i32, ptr %112, align 8, !tbaa !86
  %114 = sext i32 %113 to i64
  %115 = icmp slt i64 %indvars.iv.next, %114
  br i1 %115, label %93, label %._crit_edge, !llvm.loop !93

._crit_edge57:                                    ; preds = %.lr.ph56, %._crit_edge
  %.lcssa52 = phi ptr [ %89, %._crit_edge ], [ %148, %.lr.ph56 ]
  %116 = getelementptr inbounds i8, ptr %0, i64 216
  %117 = getelementptr inbounds i8, ptr %.lcssa52, i64 8
  %118 = load i32, ptr %117, align 8, !tbaa !95
  %119 = sext i32 %118 to i64
  call void @_ZNSt6vectorIiSaIiEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %116, i64 noundef %119)
  %120 = call noundef ptr @_ZNSt6vectorIiSaIiEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %116) #9
  %121 = load ptr, ptr %13, align 8, !tbaa !76
  %122 = getelementptr inbounds i8, ptr %121, i64 3648
  %123 = load ptr, ptr %122, align 8, !tbaa !96
  %124 = getelementptr inbounds i8, ptr %121, i64 8
  %125 = load i32, ptr %124, align 8, !tbaa !95
  %126 = sext i32 %125 to i64
  %127 = shl nsw i64 %126, 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %120, ptr align 4 %123, i64 %127, i1 false)
  %128 = getelementptr inbounds i8, ptr %0, i64 240
  call void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %128) #9
  %129 = load ptr, ptr %13, align 8, !tbaa !76
  %130 = getelementptr inbounds i8, ptr %129, i64 8
  %131 = load i32, ptr %130, align 8, !tbaa !95
  %132 = sext i32 %131 to i64
  call void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE7reserveEm(ptr noundef nonnull align 8 dereferenceable(24) %128, i64 noundef %132)
  %133 = load ptr, ptr %13, align 8, !tbaa !76
  %134 = getelementptr inbounds i8, ptr %133, i64 8
  %135 = load i32, ptr %134, align 8, !tbaa !95
  %136 = icmp sgt i32 %135, 0
  br i1 %136, label %.lr.ph60, label %._crit_edge61

.lr.ph60:                                         ; preds = %._crit_edge57
  %137 = getelementptr inbounds i8, ptr %7, i64 8
  br label %162

.lr.ph56:                                         ; preds = %._crit_edge, %.lr.ph56
  %indvars.iv75 = phi i64 [ %indvars.iv.next76, %.lr.ph56 ], [ 0, %._crit_edge ]
  %138 = phi ptr [ %148, %.lr.ph56 ], [ %89, %._crit_edge ]
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #9
  %139 = getelementptr inbounds i8, ptr %138, i64 4264
  %140 = load ptr, ptr %139, align 8, !tbaa !97
  %141 = getelementptr inbounds i8, ptr %138, i64 4088
  %142 = load ptr, ptr %141, align 8, !tbaa !98
  %143 = getelementptr inbounds i32, ptr %142, i64 %indvars.iv75
  %144 = load i32, ptr %143, align 4, !tbaa !99
  %145 = sext i32 %144 to i64
  %146 = getelementptr inbounds i8, ptr %140, i64 %145
  store ptr %146, ptr %5, align 8, !tbaa !100
  %147 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE12emplace_backIJPcEEERS5_DpOT_(ptr noundef nonnull align 8 dereferenceable(24) %84, ptr noundef nonnull align 8 dereferenceable(8) %5)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #9
  %indvars.iv.next76 = add nuw nsw i64 %indvars.iv75, 1
  %148 = load ptr, ptr %13, align 8, !tbaa !76
  %149 = getelementptr inbounds i8, ptr %148, i64 32
  %150 = load i32, ptr %149, align 8, !tbaa !86
  %151 = sext i32 %150 to i64
  %152 = icmp slt i64 %indvars.iv.next76, %151
  br i1 %152, label %.lr.ph56, label %._crit_edge57, !llvm.loop !101

._crit_edge61:                                    ; preds = %179, %._crit_edge57
  %153 = getelementptr inbounds i8, ptr %0, i64 264
  call void @_ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %153) #9
  %154 = load ptr, ptr %13, align 8, !tbaa !76
  %155 = getelementptr inbounds i8, ptr %154, i64 8
  %156 = load i32, ptr %155, align 8, !tbaa !95
  %157 = sext i32 %156 to i64
  call void @_ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE7reserveEm(ptr noundef nonnull align 8 dereferenceable(24) %153, i64 noundef %157)
  %158 = load ptr, ptr %13, align 8, !tbaa !76
  %159 = getelementptr inbounds i8, ptr %158, i64 8
  %160 = load i32, ptr %159, align 8, !tbaa !95
  %161 = icmp sgt i32 %160, 0
  br i1 %161, label %.lr.ph64, label %._crit_edge65

162:                                              ; preds = %.lr.ph60, %179
  %indvars.iv78 = phi i64 [ 0, %.lr.ph60 ], [ %indvars.iv.next79, %179 ]
  %163 = phi ptr [ %133, %.lr.ph60 ], [ %180, %179 ]
  %164 = getelementptr inbounds i8, ptr %163, i64 3656
  %165 = load ptr, ptr %164, align 8, !tbaa !102
  %166 = getelementptr inbounds i8, ptr %165, i64 %indvars.iv78
  %167 = load i8, ptr %166, align 1, !tbaa !91
  %.not50 = icmp eq i8 %167, 0
  br i1 %.not50, label %178, label %168

168:                                              ; preds = %162
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %6) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %7) #9
  %169 = getelementptr inbounds i8, ptr %163, i64 3712
  %170 = load ptr, ptr %169, align 8, !tbaa !103
  %171 = shl nuw nsw i64 %indvars.iv78, 1
  %172 = getelementptr inbounds double, ptr %170, i64 %171
  %173 = or disjoint i64 %171, 1
  %174 = getelementptr inbounds double, ptr %170, i64 %173
  %175 = call { double, double } @_ZSt9make_pairIRdS0_ESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENS2_INS3_IT0_E4typeEE6__typeEEOS4_OS9_(ptr noundef nonnull align 8 dereferenceable(8) %172, ptr noundef nonnull align 8 dereferenceable(8) %174)
  %176 = extractvalue { double, double } %175, 0
  store double %176, ptr %7, align 8
  %177 = extractvalue { double, double } %175, 1
  store double %177, ptr %137, align 8
  call void @_ZNSt8optionalISt4pairIddEEC2IS1_TnNSt9enable_ifIX7__and_vISt6__not_ISt7is_sameIS2_NSt9remove_cvINSt16remove_referenceIT_E4typeEE4typeEEES5_IS6_ISt10in_place_tSD_EESt16is_constructibleIS1_JS9_EESt14is_convertibleIS9_S1_EEEbE4typeELb1EEEOS9_(ptr noundef nonnull align 8 dereferenceable(24) %6, ptr noundef nonnull align 8 dereferenceable(16) %7) #9
  call void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE9push_backEOS3_(ptr noundef nonnull align 8 dereferenceable(24) %128, ptr noundef nonnull align 8 dereferenceable(24) %6)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %7) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %6) #9
  br label %179

178:                                              ; preds = %162
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %8) #9
  call void @_ZNSt8optionalISt4pairIddEEC2ESt9nullopt_t(ptr noundef nonnull align 8 dereferenceable(24) %8) #9
  call void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE9push_backEOS3_(ptr noundef nonnull align 8 dereferenceable(24) %128, ptr noundef nonnull align 8 dereferenceable(24) %8)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %8) #9
  br label %179

179:                                              ; preds = %168, %178
  %indvars.iv.next79 = add nuw nsw i64 %indvars.iv78, 1
  %180 = load ptr, ptr %13, align 8, !tbaa !76
  %181 = getelementptr inbounds i8, ptr %180, i64 8
  %182 = load i32, ptr %181, align 8, !tbaa !95
  %183 = sext i32 %182 to i64
  %184 = icmp slt i64 %indvars.iv.next79, %183
  br i1 %184, label %162, label %._crit_edge61, !llvm.loop !104

._crit_edge65:                                    ; preds = %.lr.ph64, %._crit_edge61
  %.lcssa = phi ptr [ %158, %._crit_edge61 ], [ %226, %.lr.ph64 ]
  %185 = getelementptr inbounds i8, ptr %0, i64 312
  %186 = load i32, ptr %.lcssa, align 8, !tbaa !105
  %187 = sext i32 %186 to i64
  call void @_ZNSt6vectorIdSaIdEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %185, i64 noundef %187)
  %188 = call noundef ptr @_ZNSt6vectorIdSaIdEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %185) #9
  %189 = load ptr, ptr %16, align 8, !tbaa !78
  %190 = getelementptr inbounds i8, ptr %189, i64 161656
  %191 = load ptr, ptr %190, align 8, !tbaa !106
  %192 = load ptr, ptr %13, align 8, !tbaa !76
  %193 = load i32, ptr %192, align 8, !tbaa !105
  %194 = sext i32 %193 to i64
  %195 = shl nsw i64 %194, 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %188, ptr align 8 %191, i64 %195, i1 false)
  %196 = getelementptr inbounds i8, ptr %0, i64 336
  %197 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIdSaIdEEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %196, ptr noundef nonnull align 8 dereferenceable(24) %185)
  %198 = getelementptr inbounds i8, ptr %0, i64 360
  %199 = load ptr, ptr %13, align 8, !tbaa !76
  %200 = getelementptr inbounds i8, ptr %199, i64 8
  %201 = load i32, ptr %200, align 8, !tbaa !95
  %202 = sext i32 %201 to i64
  call void @_ZNSt6vectorIdSaIdEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %198, i64 noundef %202)
  %203 = call noundef ptr @_ZNSt6vectorIdSaIdEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %198) #9
  %204 = load ptr, ptr %16, align 8, !tbaa !78
  %205 = getelementptr inbounds i8, ptr %204, i64 161696
  %206 = load ptr, ptr %205, align 8, !tbaa !108
  %207 = load ptr, ptr %13, align 8, !tbaa !76
  %208 = getelementptr inbounds i8, ptr %207, i64 8
  %209 = load i32, ptr %208, align 8, !tbaa !95
  %210 = sext i32 %209 to i64
  %211 = shl nsw i64 %210, 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %203, ptr align 8 %206, i64 %211, i1 false)
  %212 = getelementptr inbounds i8, ptr %0, i64 384
  %213 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIdSaIdEEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %212, ptr noundef nonnull align 8 dereferenceable(24) %198)
  %214 = load i8, ptr %0, align 8, !tbaa !109, !range !110, !noundef !111
  %215 = trunc nuw i8 %214 to i1
  br i1 %215, label %.loopexit, label %231

.lr.ph64:                                         ; preds = %._crit_edge61, %.lr.ph64
  %indvars.iv81 = phi i64 [ %indvars.iv.next82, %.lr.ph64 ], [ 0, %._crit_edge61 ]
  %216 = phi ptr [ %226, %.lr.ph64 ], [ %158, %._crit_edge61 ]
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #9
  %217 = getelementptr inbounds i8, ptr %216, i64 4264
  %218 = load ptr, ptr %217, align 8, !tbaa !97
  %219 = getelementptr inbounds i8, ptr %216, i64 4208
  %220 = load ptr, ptr %219, align 8, !tbaa !112
  %221 = getelementptr inbounds i32, ptr %220, i64 %indvars.iv81
  %222 = load i32, ptr %221, align 4, !tbaa !99
  %223 = sext i32 %222 to i64
  %224 = getelementptr inbounds i8, ptr %218, i64 %223
  store ptr %224, ptr %9, align 8, !tbaa !100
  %225 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE12emplace_backIJPcEEERS5_DpOT_(ptr noundef nonnull align 8 dereferenceable(24) %153, ptr noundef nonnull align 8 dereferenceable(8) %9)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #9
  %indvars.iv.next82 = add nuw nsw i64 %indvars.iv81, 1
  %226 = load ptr, ptr %13, align 8, !tbaa !76
  %227 = getelementptr inbounds i8, ptr %226, i64 8
  %228 = load i32, ptr %227, align 8, !tbaa !95
  %229 = sext i32 %228 to i64
  %230 = icmp slt i64 %indvars.iv.next82, %229
  br i1 %230, label %.lr.ph64, label %._crit_edge65, !llvm.loop !113

231:                                              ; preds = %._crit_edge65
  %232 = load ptr, ptr %13, align 8, !tbaa !76
  %233 = call i32 @mj_stateSize(ptr noundef %232, i32 noundef 8191)
  %234 = getelementptr inbounds i8, ptr %0, i64 56
  store i32 %233, ptr %234, align 8, !tbaa !114
  %235 = shl i32 %233, 3
  %236 = sdiv i32 2147483647, %235
  %spec.select = call i32 @llvm.smin.i32(i32 %236, i32 2000)
  %237 = mul nsw i32 %spec.select, %235
  %238 = call i32 @llvm.smin.i32(i32 %237, i32 100000000)
  %239 = sdiv i32 %238, %235
  %240 = getelementptr inbounds i8, ptr %0, i64 60
  store i32 %239, ptr %240, align 4, !tbaa !115
  %241 = getelementptr inbounds i8, ptr %0, i64 288
  call void @_ZNSt6vectorIdSaIdEE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %241) #9
  %242 = load i32, ptr %240, align 4, !tbaa !115
  %243 = load i32, ptr %234, align 8, !tbaa !114
  %244 = mul nsw i32 %243, %242
  %245 = sext i32 %244 to i64
  call void @_ZNSt6vectorIdSaIdEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %241, i64 noundef %245)
  %246 = getelementptr inbounds i8, ptr %0, i64 64
  store i32 0, ptr %246, align 8, !tbaa !116
  %247 = getelementptr inbounds i8, ptr %0, i64 13248
  store i32 0, ptr %247, align 8, !tbaa !117
  %248 = load ptr, ptr %13, align 8, !tbaa !76
  %249 = load ptr, ptr %16, align 8, !tbaa !78
  %250 = call noundef ptr @_ZNSt6vectorIdSaIdEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %241) #9
  call void @mj_getState(ptr noundef %248, ptr noundef %249, ptr noundef %250, i32 noundef 8191)
  %251 = load i32, ptr %240, align 4, !tbaa !115
  %252 = icmp sgt i32 %251, 1
  br i1 %252, label %.lr.ph69, label %.loopexit

.lr.ph69:                                         ; preds = %231, %.lr.ph69
  %.04067 = phi i32 [ %259, %.lr.ph69 ], [ 1, %231 ]
  %253 = load i32, ptr %234, align 8, !tbaa !114
  %254 = mul nsw i32 %253, %.04067
  %255 = sext i32 %254 to i64
  %256 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %241, i64 noundef %255) #9
  %257 = call noundef ptr @_ZNSt6vectorIdSaIdEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %241) #9
  %258 = load i32, ptr %234, align 8, !tbaa !114
  call void @mju_copy(ptr noundef nonnull %256, ptr noundef %257, i32 noundef %258)
  %259 = add nuw nsw i32 %.04067, 1
  %260 = load i32, ptr %240, align 4, !tbaa !115
  %261 = icmp slt i32 %259, %260
  br i1 %261, label %.lr.ph69, label %.loopexit, !llvm.loop !118

.loopexit:                                        ; preds = %.lr.ph69, %231, %._crit_edge65
  %262 = load ptr, ptr %13, align 8, !tbaa !76
  %263 = getelementptr inbounds i8, ptr %0, i64 17720
  call void @mjv_makeScene(ptr noundef %262, ptr noundef nonnull %263, i32 noundef 20000)
  %264 = load i8, ptr %0, align 8, !tbaa !109, !range !110, !noundef !111
  %265 = trunc nuw i8 %264 to i1
  br i1 %265, label %266, label %281

266:                                              ; preds = %.loopexit
  %267 = load ptr, ptr %13, align 8, !tbaa !76
  %268 = getelementptr inbounds i8, ptr %267, i64 320
  %269 = getelementptr inbounds i8, ptr %0, i64 11864
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(304) %269, ptr noundef nonnull align 8 dereferenceable(304) %268, i64 304, i1 false), !tbaa.struct !119
  %270 = getelementptr inbounds i8, ptr %0, i64 26496
  %271 = load ptr, ptr %270, align 8, !tbaa !121
  %272 = getelementptr inbounds i8, ptr %0, i64 12168
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(92) %272, ptr noundef nonnull align 4 dereferenceable(92) %271, i64 92, i1 false), !tbaa.struct !122
  %273 = getelementptr inbounds i8, ptr %0, i64 26488
  %274 = load ptr, ptr %273, align 8, !tbaa !123
  %275 = getelementptr inbounds i8, ptr %0, i64 12264
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(64) %275, ptr noundef nonnull align 8 dereferenceable(64) %274, i64 64, i1 false), !tbaa.struct !124
  %276 = load ptr, ptr %16, align 8, !tbaa !78
  %277 = getelementptr inbounds i8, ptr %276, i64 1124
  %278 = load i32, ptr %277, align 4, !tbaa !125
  %279 = getelementptr inbounds i8, ptr %0, i64 12328
  store i32 %278, ptr %279, align 8, !tbaa !127
  %280 = getelementptr inbounds i8, ptr %0, i64 408
  call void @mjv_makeSceneState(ptr noundef %267, ptr noundef %276, ptr noundef nonnull %280, i32 noundef 20000)
  br label %281

281:                                              ; preds = %266, %.loopexit
  %282 = getelementptr inbounds i8, ptr %0, i64 4091296
  %283 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %282) #9
  %284 = load ptr, ptr %13, align 8, !tbaa !76
  %285 = getelementptr inbounds i8, ptr %0, i64 13200
  %286 = load i32, ptr %285, align 8, !tbaa !128
  %287 = mul i32 %286, 50
  %288 = add i32 %287, 50
  %289 = load ptr, ptr %283, align 8, !tbaa !129
  %290 = getelementptr inbounds i8, ptr %289, i64 16
  %291 = load ptr, ptr %290, align 8
  %292 = call noundef zeroext i1 %291(ptr noundef nonnull align 8 dereferenceable(2900) %283, ptr noundef %284, i32 noundef %288)
  %293 = getelementptr inbounds i8, ptr %0, i64 4091312
  %294 = getelementptr inbounds i8, ptr %0, i64 4091304
  %295 = load ptr, ptr %294, align 8, !tbaa !131
  %296 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %282) #9
  %297 = call noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900) %296)
  call void @_ZN12_GLOBAL__N_18UiModifyEP5mjUI_P10mjuiState_P11mjrContext_(ptr noundef nonnull %293, ptr noundef %295, ptr noundef nonnull %297)
  %298 = getelementptr inbounds i8, ptr %0, i64 7068880
  %299 = load ptr, ptr %294, align 8, !tbaa !131
  %300 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %282) #9
  %301 = call noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900) %300)
  call void @_ZN12_GLOBAL__N_18UiModifyEP5mjUI_P10mjuiState_P11mjrContext_(ptr noundef nonnull %298, ptr noundef %299, ptr noundef nonnull %301)
  %302 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %282) #9
  %303 = load ptr, ptr %302, align 8, !tbaa !129
  %304 = getelementptr inbounds i8, ptr %303, i64 64
  %305 = load ptr, ptr %304, align 8
  %306 = call noundef zeroext i1 %305(ptr noundef nonnull align 8 dereferenceable(2900) %302)
  br i1 %306, label %310, label %307

307:                                              ; preds = %281
  %308 = getelementptr inbounds i8, ptr %0, i64 26460
  store i8 0, ptr %308, align 4, !tbaa !91
  %309 = getelementptr inbounds i8, ptr %0, i64 26462
  store i8 0, ptr %309, align 2, !tbaa !91
  br label %310

310:                                              ; preds = %307, %281
  %311 = getelementptr inbounds i8, ptr %0, i64 4091256
  %312 = load ptr, ptr %311, align 8, !tbaa !132
  %.not = icmp eq ptr %312, null
  br i1 %.not, label %317, label %313

313:                                              ; preds = %310
  %314 = getelementptr inbounds i8, ptr %312, i64 8740
  %315 = getelementptr inbounds i8, ptr %0, i64 26460
  call void @_ZN12_GLOBAL__N_14CopyIA10_hEEvRT_RKS2_(ptr noundef nonnull align 1 dereferenceable(10) %314, ptr noundef nonnull align 1 dereferenceable(10) %315)
  %316 = getelementptr inbounds i8, ptr %0, i64 4091264
  call void @_ZN12_GLOBAL__N_14CopyIA10_hEEvRT_RKS2_(ptr noundef nonnull align 1 dereferenceable(10) %316, ptr noundef nonnull align 1 dereferenceable(10) %315)
  br label %317

317:                                              ; preds = %313, %310
  %318 = getelementptr inbounds i8, ptr %0, i64 26504
  %319 = load ptr, ptr %318, align 8, !tbaa !133
  store <4 x i32> <i32 0, i32 -1, i32 -1, i32 0>, ptr %319, align 8, !tbaa !99
  %320 = getelementptr inbounds i8, ptr %0, i64 15276
  %321 = load i8, ptr %320, align 4, !tbaa !91
  %.not47 = icmp eq i8 %321, 0
  br i1 %.not47, label %328, label %322

322:                                              ; preds = %317
  %323 = getelementptr inbounds i8, ptr %0, i64 16276
  %324 = call noundef i32 @_ZN6mujoco11sample_utilL10strcmp_arrILm1000ELm1000EEEiRAT__KcRAT0__S2_(ptr noundef nonnull align 1 dereferenceable(1000) %320, ptr noundef nonnull align 1 dereferenceable(1000) %323)
  %.not48 = icmp eq i32 %324, 0
  br i1 %.not48, label %328, label %325

325:                                              ; preds = %322
  %326 = load ptr, ptr %13, align 8, !tbaa !76
  call void @_ZN12_GLOBAL__N_117AlignAndScaleViewEPN6mujoco8SimulateEPK8mjModel_(ptr noundef nonnull %0, ptr noundef %326)
  %327 = call noundef ptr @_ZN6mujoco11sample_utilL10strcpy_arrILm1000EEEPcRAT__cPKc(ptr noundef nonnull align 1 dereferenceable(1000) %323, ptr noundef nonnull %320)
  br label %328

328:                                              ; preds = %325, %322, %317
  %329 = load i8, ptr %0, align 8, !tbaa !109, !range !110, !noundef !111
  %330 = trunc nuw i8 %329 to i1
  %331 = load ptr, ptr %13, align 8, !tbaa !76
  %332 = load ptr, ptr %16, align 8, !tbaa !78
  %333 = getelementptr inbounds i8, ptr %0, i64 26496
  %334 = load ptr, ptr %333, align 8, !tbaa !121
  br i1 %330, label %339, label %335

335:                                              ; preds = %328
  %336 = load ptr, ptr %318, align 8, !tbaa !133
  %337 = getelementptr inbounds i8, ptr %0, i64 26488
  %338 = load ptr, ptr %337, align 8, !tbaa !123
  call void @mjv_updateScene(ptr noundef %331, ptr noundef %332, ptr noundef %334, ptr noundef %336, ptr noundef %338, i32 noundef 7, ptr noundef nonnull %263)
  br label %341

339:                                              ; preds = %328
  %340 = getelementptr inbounds i8, ptr %0, i64 408
  call void @mjv_updateSceneState(ptr noundef %331, ptr noundef %332, ptr noundef %334, ptr noundef nonnull %340)
  br label %341

341:                                              ; preds = %339, %335
  %342 = load ptr, ptr %13, align 8, !tbaa !76
  %343 = getelementptr inbounds i8, ptr %342, i64 4264
  %344 = load ptr, ptr %343, align 8, !tbaa !97
  %.not49 = icmp eq ptr %344, null
  br i1 %.not49, label %351, label %345

345:                                              ; preds = %341
  call void @llvm.lifetime.start.p0(i64 200, ptr nonnull %10) #9
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(200) %10, ptr noundef nonnull align 16 dereferenceable(200) @__const._ZN6mujoco8Simulate18LoadOnRenderThreadEv.title, i64 200, i1 false)
  %346 = call noundef ptr @_ZN6mujoco11sample_utilL10strcat_arrILm200EEEPcRAT__cPKc(ptr noundef nonnull align 1 dereferenceable(200) %10, ptr noundef nonnull %344)
  %347 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %282) #9
  %348 = load ptr, ptr %347, align 8, !tbaa !129
  %349 = getelementptr inbounds i8, ptr %348, i64 96
  %350 = load ptr, ptr %349, align 8
  call void %350(ptr noundef nonnull align 8 dereferenceable(2900) %347, ptr noundef nonnull %10)
  call void @llvm.lifetime.end.p0(i64 200, ptr nonnull %10) #9
  %.pre = load ptr, ptr %13, align 8, !tbaa !76
  br label %351

351:                                              ; preds = %345, %341
  %352 = phi ptr [ %.pre, %345 ], [ %342, %341 ]
  %353 = getelementptr inbounds i8, ptr %0, i64 4694936
  store double 0.000000e+00, ptr %353, align 8, !tbaa !91
  %354 = getelementptr inbounds i8, ptr %352, i64 200
  %355 = load i32, ptr %354, align 8, !tbaa !82
  %356 = icmp slt i32 %355, 1
  %357 = add nsw i32 %355, -1
  %358 = uitofp nneg i32 %357 to double
  %359 = select i1 %356, double 0.000000e+00, double %358
  %360 = getelementptr inbounds i8, ptr %0, i64 4694944
  store double %359, ptr %360, align 8, !tbaa !91
  %361 = load i32, ptr %354, align 8, !tbaa !82
  %362 = icmp slt i32 %361, 2
  %363 = add nsw i32 %361, -1
  %364 = uitofp nneg i32 %363 to double
  %365 = select i1 %362, double 1.000000e+00, double %364
  %366 = getelementptr inbounds i8, ptr %0, i64 4694952
  store double %365, ptr %366, align 8, !tbaa !91
  %367 = getelementptr inbounds i8, ptr %0, i64 60
  %368 = load i32, ptr %367, align 4, !tbaa !115
  %369 = sub nsw i32 1, %368
  %370 = sitofp i32 %369 to double
  %371 = getelementptr inbounds i8, ptr %0, i64 4703864
  store double %370, ptr %371, align 8, !tbaa !91
  %372 = sitofp i32 %368 to double
  %373 = getelementptr inbounds i8, ptr %0, i64 4703880
  store double %372, ptr %373, align 8, !tbaa !91
  %374 = load ptr, ptr %16, align 8, !tbaa !78
  call void @_ZN12_GLOBAL__N_114MakeUiSectionsEPN6mujoco8SimulateEPK8mjModel_PK7mjData_(ptr noundef nonnull %0, ptr noundef %352, ptr noundef %374)
  %375 = load ptr, ptr %294, align 8, !tbaa !131
  %376 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %282) #9
  %377 = call noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900) %376)
  call void @_ZN12_GLOBAL__N_18UiModifyEP5mjUI_P10mjuiState_P11mjrContext_(ptr noundef nonnull %293, ptr noundef %375, ptr noundef nonnull %377)
  %378 = load ptr, ptr %294, align 8, !tbaa !131
  %379 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %282) #9
  %380 = call noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900) %379)
  call void @_ZN12_GLOBAL__N_18UiModifyEP5mjUI_P10mjuiState_P11mjrContext_(ptr noundef nonnull %298, ptr noundef %378, ptr noundef nonnull %380)
  %381 = load ptr, ptr %13, align 8, !tbaa !76
  call void @_ZN12_GLOBAL__N_114UpdateSettingsEPN6mujoco8SimulateEPK8mjModel_(ptr noundef nonnull %0, ptr noundef %381)
  %382 = getelementptr inbounds i8, ptr %0, i64 13272
  store i32 0, ptr %382, align 8, !tbaa !134
  %383 = getelementptr inbounds i8, ptr %0, i64 13104
  call void @_ZNSt3_V222condition_variable_any10notify_allEv(ptr noundef nonnull align 8 dereferenceable(64) %383) #9
  %384 = load ptr, ptr %13, align 8, !tbaa !76
  %385 = getelementptr inbounds i8, ptr %384, i64 648
  %386 = load float, ptr %385, align 8, !tbaa !135
  %387 = fmul float %386, 1.000000e+02
  %388 = call noundef float @_ZSt3logf(float noundef %387)
  %389 = getelementptr inbounds i8, ptr %0, i64 17276
  br label %391

390:                                              ; preds = %400
  call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(16) %11, i8 0, i64 16, i1 false)
  ret void

391:                                              ; preds = %351, %400
  %indvars.iv84 = phi i64 [ 0, %351 ], [ %indvars.iv.next85, %400 ]
  %.03870 = phi float [ 1.000000e+06, %351 ], [ %.1, %400 ]
  %392 = getelementptr inbounds [31 x float], ptr @_ZN6mujoco8Simulate15percentRealTimeE, i64 0, i64 %indvars.iv84
  %393 = load float, ptr %392, align 4, !tbaa !136
  %394 = call noundef float @_ZSt3logf(float noundef %393)
  %395 = fsub float %394, %388
  %396 = call noundef float @_ZSt4fabsf(float noundef %395)
  %397 = fcmp olt float %396, %.03870
  br i1 %397, label %398, label %400

398:                                              ; preds = %391
  %399 = trunc nuw nsw i64 %indvars.iv84 to i32
  store i32 %399, ptr %389, align 4, !tbaa !137
  br label %400

400:                                              ; preds = %398, %391
  %.1 = phi float [ %396, %398 ], [ %.03870, %391 ]
  %indvars.iv.next85 = add nuw nsw i64 %indvars.iv84, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next85, 31
  br i1 %exitcond.not, label %390, label %391, !llvm.loop !138
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIiSaIiEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNSt6vectorIiSaIiEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE7reserveEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorISt8optionalISt4pairIddEESaIS3_EE9push_backEOS3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local { double, double } @_ZSt9make_pairIRdS0_ESt4pairINSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeENS2_INS3_IT0_E4typeEE6__typeEEOS4_OS9_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt8optionalISt4pairIddEEC2IS1_TnNSt9enable_ifIX7__and_vISt6__not_ISt7is_sameIS2_NSt9remove_cvINSt16remove_referenceIT_E4typeEE4typeEEES5_IS6_ISt10in_place_tSD_EESt16is_constructibleIS1_JS9_EESt14is_convertibleIS9_S1_EEEbE4typeELb1EEEOS9_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt8optionalISt4pairIddEEC2ESt9nullopt_t(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE7reserveEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE12emplace_backIJPcEEERS5_DpOT_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNSt6vectorIdSaIdEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIdSaIdEEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #3 align 2

declare i32 @mj_stateSize(ptr noundef, i32 noundef) local_unnamed_addr #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEE5clearEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

declare void @mj_getState(ptr noundef, ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #4

declare void @mjv_makeScene(ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #4

declare void @mjv_makeSceneState(ptr noundef, ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare hidden void @_ZN12_GLOBAL__N_18UiModifyEP5mjUI_P10mjuiState_P11mjrContext_(ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900)) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare hidden noundef i32 @_ZN6mujoco11sample_utilL10strcmp_arrILm1000ELm1000EEEiRAT__KcRAT0__S2_(ptr noundef nonnull align 1 dereferenceable(1000), ptr noundef nonnull align 1 dereferenceable(1000)) local_unnamed_addr #6

; Function Attrs: inlinehint mustprogress uwtable
declare hidden noundef ptr @_ZN6mujoco11sample_utilL10strcat_arrILm200EEEPcRAT__cPKc(ptr noundef nonnull align 1 dereferenceable(200), ptr noundef) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
declare hidden void @_ZN12_GLOBAL__N_114MakeUiSectionsEPN6mujoco8SimulateEPK8mjModel_PK7mjData_(ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt3_V222condition_variable_any10notify_allEv(ptr noundef nonnull align 8 dereferenceable(64)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3logf(float noundef) local_unnamed_addr #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt4fabsf(float noundef) local_unnamed_addr #6

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare i32 @llvm.smin.i32(i32, i32) #7

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #8

attributes #0 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #8 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #9 = { nounwind }

!llvm.module.flags = !{!0, !1, !2, !3}
!llvm.ident = !{!4}

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !10, i64 8}
!6 = !{!"_ZTSN6mujoco8SimulateE", !7, i64 0, !10, i64 8, !10, i64 16, !10, i64 24, !10, i64 32, !10, i64 40, !11, i64 48, !11, i64 52, !11, i64 56, !11, i64 60, !11, i64 64, !12, i64 72, !12, i64 96, !12, i64 120, !12, i64 144, !16, i64 168, !20, i64 192, !12, i64 216, !16, i64 240, !20, i64 264, !24, i64 288, !24, i64 312, !24, i64 336, !24, i64 360, !24, i64 384, !28, i64 408, !32, i64 11864, !43, i64 12168, !44, i64 12264, !11, i64 12328, !45, i64 12336, !52, i64 13064, !55, i64 13104, !11, i64 13168, !61, i64 13176, !33, i64 13184, !11, i64 13192, !11, i64 13196, !11, i64 13200, !11, i64 13204, !11, i64 13208, !11, i64 13212, !11, i64 13216, !11, i64 13220, !11, i64 13224, !11, i64 13228, !11, i64 13232, !11, i64 13236, !11, i64 13240, !11, i64 13244, !11, i64 13248, !11, i64 13252, !64, i64 13256, !64, i64 13260, !64, i64 13264, !64, i64 13268, !11, i64 13272, !8, i64 13276, !8, i64 14276, !8, i64 15276, !8, i64 16276, !11, i64 17276, !7, i64 17280, !30, i64 17284, !33, i64 17288, !33, i64 17296, !8, i64 17304, !11, i64 17604, !8, i64 17608, !8, i64 17668, !8, i64 17692, !11, i64 17716, !29, i64 17720, !10, i64 26488, !10, i64 26496, !10, i64 26504, !66, i64 26512, !66, i64 839460, !66, i64 1652408, !66, i64 2465356, !66, i64 3278304, !10, i64 4091256, !8, i64 4091264, !11, i64 4091276, !8, i64 4091280, !8, i64 4091288, !67, i64 4091296, !10, i64 4091304, !73, i64 4091312, !73, i64 7068880, !8, i64 10046448, !8, i64 10051128, !8, i64 10056168, !8, i64 10057968, !8, i64 10058968, !55, i64 10059968, !11, i64 10060032, !11, i64 10060036, !11, i64 10060040}
!7 = !{!"bool", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"any pointer", !8, i64 0}
!11 = !{!"int", !8, i64 0}
!12 = !{!"_ZTSSt6vectorIiSaIiEE", !13, i64 0}
!13 = !{!"_ZTSSt12_Vector_baseIiSaIiEE", !14, i64 0}
!14 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE12_Vector_implE", !15, i64 0}
!15 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE17_Vector_impl_dataE", !10, i64 0, !10, i64 8, !10, i64 16}
!16 = !{!"_ZTSSt6vectorISt8optionalISt4pairIddEESaIS3_EE", !17, i64 0}
!17 = !{!"_ZTSSt12_Vector_baseISt8optionalISt4pairIddEESaIS3_EE", !18, i64 0}
!18 = !{!"_ZTSNSt12_Vector_baseISt8optionalISt4pairIddEESaIS3_EE12_Vector_implE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseISt8optionalISt4pairIddEESaIS3_EE17_Vector_impl_dataE", !10, i64 0, !10, i64 8, !10, i64 16}
!20 = !{!"_ZTSSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE", !21, i64 0}
!21 = !{!"_ZTSSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE", !22, i64 0}
!22 = !{!"_ZTSNSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE12_Vector_implE", !23, i64 0}
!23 = !{!"_ZTSNSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE17_Vector_impl_dataE", !10, i64 0, !10, i64 8, !10, i64 16}
!24 = !{!"_ZTSSt6vectorIdSaIdEE", !25, i64 0}
!25 = !{!"_ZTSSt12_Vector_baseIdSaIdEE", !26, i64 0}
!26 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE12_Vector_implE", !27, i64 0}
!27 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE17_Vector_impl_dataE", !10, i64 0, !10, i64 8, !10, i64 16}
!28 = !{!"_ZTS14mjvSceneState_", !11, i64 0, !10, i64 8, !11, i64 16, !29, i64 24, !31, i64 8792, !42, i64 11072}
!29 = !{!"_ZTS9mjvScene_", !11, i64 0, !11, i64 4, !10, i64 8, !10, i64 16, !11, i64 24, !10, i64 32, !10, i64 40, !10, i64 48, !10, i64 56, !10, i64 64, !10, i64 72, !10, i64 80, !10, i64 88, !10, i64 96, !10, i64 104, !10, i64 112, !10, i64 120, !8, i64 128, !8, i64 129, !8, i64 130, !8, i64 131, !11, i64 132, !10, i64 136, !10, i64 144, !10, i64 152, !10, i64 160, !10, i64 168, !11, i64 176, !8, i64 180, !8, i64 8580, !8, i64 8700, !8, i64 8704, !8, i64 8716, !30, i64 8732, !11, i64 8736, !8, i64 8740, !11, i64 8752, !8, i64 8756}
!30 = !{!"float", !8, i64 0}
!31 = !{!"_ZTSN14mjvSceneState_Ut_E", !11, i64 0, !11, i64 4, !11, i64 8, !11, i64 12, !11, i64 16, !11, i64 20, !11, i64 24, !11, i64 28, !11, i64 32, !11, i64 36, !11, i64 40, !11, i64 44, !11, i64 48, !11, i64 52, !11, i64 56, !11, i64 60, !11, i64 64, !11, i64 68, !11, i64 72, !11, i64 76, !11, i64 80, !11, i64 84, !11, i64 88, !11, i64 92, !11, i64 96, !11, i64 100, !11, i64 104, !11, i64 108, !11, i64 112, !11, i64 116, !32, i64 120, !34, i64 424, !41, i64 1048, !10, i64 1104, !10, i64 1112, !10, i64 1120, !10, i64 1128, !10, i64 1136, !10, i64 1144, !10, i64 1152, !10, i64 1160, !10, i64 1168, !10, i64 1176, !10, i64 1184, !10, i64 1192, !10, i64 1200, !10, i64 1208, !10, i64 1216, !10, i64 1224, !10, i64 1232, !10, i64 1240, !10, i64 1248, !10, i64 1256, !10, i64 1264, !10, i64 1272, !10, i64 1280, !10, i64 1288, !10, i64 1296, !10, i64 1304, !10, i64 1312, !10, i64 1320, !10, i64 1328, !10, i64 1336, !10, i64 1344, !10, i64 1352, !10, i64 1360, !10, i64 1368, !10, i64 1376, !10, i64 1384, !10, i64 1392, !10, i64 1400, !10, i64 1408, !10, i64 1416, !10, i64 1424, !10, i64 1432, !10, i64 1440, !10, i64 1448, !10, i64 1456, !10, i64 1464, !10, i64 1472, !10, i64 1480, !10, i64 1488, !10, i64 1496, !10, i64 1504, !10, i64 1512, !10, i64 1520, !10, i64 1528, !10, i64 1536, !10, i64 1544, !10, i64 1552, !10, i64 1560, !10, i64 1568, !10, i64 1576, !10, i64 1584, !10, i64 1592, !10, i64 1600, !10, i64 1608, !10, i64 1616, !10, i64 1624, !10, i64 1632, !10, i64 1640, !10, i64 1648, !10, i64 1656, !10, i64 1664, !10, i64 1672, !10, i64 1680, !10, i64 1688, !10, i64 1696, !10, i64 1704, !10, i64 1712, !10, i64 1720, !10, i64 1728, !10, i64 1736, !10, i64 1744, !10, i64 1752, !10, i64 1760, !10, i64 1768, !10, i64 1776, !10, i64 1784, !10, i64 1792, !10, i64 1800, !10, i64 1808, !10, i64 1816, !10, i64 1824, !10, i64 1832, !10, i64 1840, !10, i64 1848, !10, i64 1856, !10, i64 1864, !10, i64 1872, !10, i64 1880, !10, i64 1888, !10, i64 1896, !10, i64 1904, !10, i64 1912, !10, i64 1920, !10, i64 1928, !10, i64 1936, !10, i64 1944, !10, i64 1952, !10, i64 1960, !10, i64 1968, !10, i64 1976, !10, i64 1984, !10, i64 1992, !10, i64 2000, !10, i64 2008, !10, i64 2016, !10, i64 2024, !10, i64 2032, !10, i64 2040, !10, i64 2048, !10, i64 2056, !10, i64 2064, !10, i64 2072, !10, i64 2080, !10, i64 2088, !10, i64 2096, !10, i64 2104, !10, i64 2112, !10, i64 2120, !10, i64 2128, !10, i64 2136, !10, i64 2144, !10, i64 2152, !10, i64 2160, !10, i64 2168, !10, i64 2176, !10, i64 2184, !10, i64 2192, !10, i64 2200, !10, i64 2208, !10, i64 2216, !10, i64 2224, !10, i64 2232, !10, i64 2240, !10, i64 2248, !10, i64 2256, !10, i64 2264, !10, i64 2272}
!32 = !{!"_ZTS9mjOption_", !33, i64 0, !33, i64 8, !33, i64 16, !33, i64 24, !33, i64 32, !33, i64 40, !33, i64 48, !8, i64 56, !8, i64 80, !8, i64 104, !33, i64 128, !33, i64 136, !33, i64 144, !8, i64 152, !8, i64 168, !8, i64 208, !11, i64 248, !11, i64 252, !11, i64 256, !11, i64 260, !11, i64 264, !11, i64 268, !11, i64 272, !11, i64 276, !11, i64 280, !11, i64 284, !11, i64 288, !11, i64 292, !11, i64 296}
!33 = !{!"double", !8, i64 0}
!34 = !{!"_ZTS9mjVisual_", !35, i64 0, !36, i64 44, !37, i64 64, !38, i64 104, !39, i64 156, !40, i64 224}
!35 = !{!"_ZTSN9mjVisual_Ut_E", !30, i64 0, !30, i64 4, !30, i64 8, !30, i64 12, !30, i64 16, !30, i64 20, !30, i64 24, !11, i64 28, !11, i64 32, !11, i64 36, !11, i64 40}
!36 = !{!"_ZTSN9mjVisual_Ut0_E", !11, i64 0, !11, i64 4, !11, i64 8, !11, i64 12, !11, i64 16}
!37 = !{!"_ZTSN9mjVisual_Ut1_E", !8, i64 0, !8, i64 12, !8, i64 24, !11, i64 36}
!38 = !{!"_ZTSN9mjVisual_Ut2_E", !30, i64 0, !30, i64 4, !30, i64 8, !30, i64 12, !30, i64 16, !30, i64 20, !30, i64 24, !30, i64 28, !30, i64 32, !30, i64 36, !30, i64 40, !30, i64 44, !30, i64 48}
!39 = !{!"_ZTSN9mjVisual_Ut3_E", !30, i64 0, !30, i64 4, !30, i64 8, !30, i64 12, !30, i64 16, !30, i64 20, !30, i64 24, !30, i64 28, !30, i64 32, !30, i64 36, !30, i64 40, !30, i64 44, !30, i64 48, !30, i64 52, !30, i64 56, !30, i64 60, !30, i64 64}
!40 = !{!"_ZTSN9mjVisual_Ut4_E", !8, i64 0, !8, i64 16, !8, i64 32, !8, i64 48, !8, i64 64, !8, i64 80, !8, i64 96, !8, i64 112, !8, i64 128, !8, i64 144, !8, i64 160, !8, i64 176, !8, i64 192, !8, i64 208, !8, i64 224, !8, i64 240, !8, i64 256, !8, i64 272, !8, i64 288, !8, i64 304, !8, i64 320, !8, i64 336, !8, i64 352, !8, i64 368, !8, i64 384}
!41 = !{!"_ZTS12mjStatistic_", !33, i64 0, !33, i64 8, !33, i64 16, !33, i64 24, !8, i64 32}
!42 = !{!"_ZTSN14mjvSceneState_Ut0_E", !8, i64 0, !11, i64 64, !11, i64 68, !11, i64 72, !33, i64 80, !10, i64 88, !10, i64 96, !10, i64 104, !10, i64 112, !10, i64 120, !10, i64 128, !10, i64 136, !10, i64 144, !10, i64 152, !10, i64 160, !10, i64 168, !10, i64 176, !10, i64 184, !10, i64 192, !10, i64 200, !10, i64 208, !10, i64 216, !10, i64 224, !10, i64 232, !10, i64 240, !10, i64 248, !10, i64 256, !10, i64 264, !10, i64 272, !10, i64 280, !10, i64 288, !10, i64 296, !10, i64 304, !10, i64 312, !10, i64 320, !10, i64 328, !10, i64 336, !10, i64 344, !10, i64 352, !10, i64 360, !10, i64 368, !10, i64 376}
!43 = !{!"_ZTS10mjvOption_", !11, i64 0, !11, i64 4, !8, i64 8, !8, i64 14, !8, i64 20, !8, i64 26, !8, i64 32, !8, i64 38, !8, i64 44, !8, i64 50, !11, i64 84, !11, i64 88}
!44 = !{!"_ZTS10mjvCamera_", !11, i64 0, !11, i64 4, !11, i64 8, !8, i64 16, !33, i64 40, !33, i64 48, !33, i64 56}
!45 = !{!"_ZTSN6mujoco8SimulateUt_E", !46, i64 0, !46, i64 40, !46, i64 80, !46, i64 120, !7, i64 160, !7, i64 161, !7, i64 162, !7, i64 163, !7, i64 164, !7, i64 165, !7, i64 166, !11, i64 168, !7, i64 172, !51, i64 176, !7, i64 720, !7, i64 721, !7, i64 722, !7, i64 723, !7, i64 724, !7, i64 725}
!46 = !{!"_ZTSSt8optionalINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEE", !47, i64 0}
!47 = !{!"_ZTSSt14_Optional_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEELb0ELb0EE", !48, i64 0}
!48 = !{!"_ZTSSt17_Optional_payloadINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEELb0ELb0ELb0EE", !49, i64 0}
!49 = !{!"_ZTSSt17_Optional_payloadINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEELb1ELb0ELb0EE", !50, i64 0}
!50 = !{!"_ZTSSt22_Optional_payload_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEE", !8, i64 0, !7, i64 32}
!51 = !{!"_ZTS10mjuiState_", !11, i64 0, !8, i64 4, !10, i64 408, !11, i64 416, !11, i64 420, !11, i64 424, !11, i64 428, !11, i64 432, !11, i64 436, !33, i64 440, !33, i64 448, !33, i64 456, !33, i64 464, !33, i64 472, !33, i64 480, !33, i64 488, !11, i64 496, !11, i64 500, !11, i64 504, !11, i64 508, !33, i64 512, !11, i64 520, !11, i64 524, !11, i64 528, !11, i64 532, !10, i64 536}
!52 = !{!"_ZTSN6mujoco13SimulateMutexE", !53, i64 0}
!53 = !{!"_ZTSSt15recursive_mutex", !54, i64 0}
!54 = !{!"_ZTSSt22__recursive_mutex_base", !8, i64 0}
!55 = !{!"_ZTSNSt3_V222condition_variable_anyE", !56, i64 0, !58, i64 48}
!56 = !{!"_ZTSSt18condition_variable", !57, i64 0}
!57 = !{!"_ZTSSt9__condvar", !8, i64 0}
!58 = !{!"_ZTSSt10shared_ptrISt5mutexE", !59, i64 0}
!59 = !{!"_ZTSSt12__shared_ptrISt5mutexLN9__gnu_cxx12_Lock_policyE2EE", !10, i64 0, !60, i64 8}
!60 = !{!"_ZTSSt14__shared_countILN9__gnu_cxx12_Lock_policyE2EE", !10, i64 0}
!61 = !{!"_ZTSNSt6chrono10time_pointINS_3_V212steady_clockENS_8durationIlSt5ratioILl1ELl1000000000EEEEEE", !62, i64 0}
!62 = !{!"_ZTSNSt6chrono8durationIlSt5ratioILl1ELl1000000000EEEE", !63, i64 0}
!63 = !{!"long", !8, i64 0}
!64 = !{!"_ZTSSt6atomicIiE", !65, i64 0}
!65 = !{!"_ZTSSt13__atomic_baseIiE", !11, i64 0}
!66 = !{!"_ZTS10mjvFigure_", !11, i64 0, !8, i64 4, !11, i64 12, !11, i64 16, !11, i64 20, !11, i64 24, !30, i64 28, !30, i64 32, !8, i64 36, !8, i64 44, !8, i64 56, !8, i64 72, !8, i64 88, !8, i64 104, !8, i64 116, !8, i64 1316, !8, i64 1332, !8, i64 1352, !8, i64 1372, !8, i64 1392, !8, i64 2392, !8, i64 2492, !11, i64 12492, !11, i64 12496, !8, i64 12500, !11, i64 12508, !30, i64 12512, !8, i64 12516, !8, i64 12916, !8, i64 812916, !8, i64 812924, !8, i64 812932, !8, i64 812940}
!67 = !{!"_ZTSSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EE", !68, i64 0}
!68 = !{!"_ZTSSt15__uniq_ptr_dataIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_ELb1ELb1EE", !69, i64 0}
!69 = !{!"_ZTSSt15__uniq_ptr_implIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EE", !70, i64 0}
!70 = !{!"_ZTSSt5tupleIJPN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEE", !71, i64 0}
!71 = !{!"_ZTSSt11_Tuple_implILm0EJPN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEE", !72, i64 0}
!72 = !{!"_ZTSSt10_Head_baseILm0EPN6mujoco17PlatformUIAdapterELb0EE", !10, i64 0}
!73 = !{!"_ZTS5mjUI_", !74, i64 0, !75, i64 44, !10, i64 296, !10, i64 304, !11, i64 312, !11, i64 316, !11, i64 320, !11, i64 324, !11, i64 328, !11, i64 332, !11, i64 336, !11, i64 340, !11, i64 344, !11, i64 348, !11, i64 352, !11, i64 356, !11, i64 360, !11, i64 364, !8, i64 368, !10, i64 672, !11, i64 680, !8, i64 688}
!74 = !{!"_ZTS17mjuiThemeSpacing_", !11, i64 0, !11, i64 4, !11, i64 8, !11, i64 12, !11, i64 16, !11, i64 20, !11, i64 24, !11, i64 28, !11, i64 32, !11, i64 36, !11, i64 40}
!75 = !{!"_ZTS15mjuiThemeColor_", !8, i64 0, !8, i64 12, !8, i64 24, !8, i64 36, !8, i64 48, !8, i64 60, !8, i64 72, !8, i64 84, !8, i64 96, !8, i64 108, !8, i64 120, !8, i64 132, !8, i64 144, !8, i64 156, !8, i64 168, !8, i64 180, !8, i64 192, !8, i64 204, !8, i64 216, !8, i64 228, !8, i64 240}
!76 = !{!6, !10, i64 24}
!77 = !{!6, !10, i64 16}
!78 = !{!6, !10, i64 32}
!79 = !{!80, !11, i64 44}
!80 = !{!"_ZTS8mjModel_", !11, i64 0, !11, i64 4, !11, i64 8, !11, i64 12, !11, i64 16, !11, i64 20, !11, i64 24, !11, i64 28, !11, i64 32, !11, i64 36, !11, i64 40, !11, i64 44, !11, i64 48, !11, i64 52, !11, i64 56, !11, i64 60, !11, i64 64, !11, i64 68, !11, i64 72, !11, i64 76, !11, i64 80, !11, i64 84, !11, i64 88, !11, i64 92, !11, i64 96, !11, i64 100, !11, i64 104, !11, i64 108, !11, i64 112, !11, i64 116, !11, i64 120, !11, i64 124, !11, i64 128, !11, i64 132, !11, i64 136, !11, i64 140, !11, i64 144, !11, i64 148, !11, i64 152, !11, i64 156, !11, i64 160, !11, i64 164, !11, i64 168, !11, i64 172, !11, i64 176, !11, i64 180, !11, i64 184, !11, i64 188, !11, i64 192, !11, i64 196, !11, i64 200, !11, i64 204, !11, i64 208, !11, i64 212, !11, i64 216, !11, i64 220, !11, i64 224, !11, i64 228, !11, i64 232, !11, i64 236, !11, i64 240, !11, i64 244, !11, i64 248, !11, i64 252, !11, i64 256, !11, i64 260, !11, i64 264, !11, i64 268, !11, i64 272, !11, i64 276, !11, i64 280, !11, i64 284, !11, i64 288, !11, i64 292, !11, i64 296, !63, i64 304, !63, i64 312, !32, i64 320, !34, i64 624, !41, i64 1248, !10, i64 1304, !10, i64 1312, !10, i64 1320, !10, i64 1328, !10, i64 1336, !10, i64 1344, !10, i64 1352, !10, i64 1360, !10, i64 1368, !10, i64 1376, !10, i64 1384, !10, i64 1392, !10, i64 1400, !10, i64 1408, !10, i64 1416, !10, i64 1424, !10, i64 1432, !10, i64 1440, !10, i64 1448, !10, i64 1456, !10, i64 1464, !10, i64 1472, !10, i64 1480, !10, i64 1488, !10, i64 1496, !10, i64 1504, !10, i64 1512, !10, i64 1520, !10, i64 1528, !10, i64 1536, !10, i64 1544, !10, i64 1552, !10, i64 1560, !10, i64 1568, !10, i64 1576, !10, i64 1584, !10, i64 1592, !10, i64 1600, !10, i64 1608, !10, i64 1616, !10, i64 1624, !10, i64 1632, !10, i64 1640, !10, i64 1648, !10, i64 1656, !10, i64 1664, !10, i64 1672, !10, i64 1680, !10, i64 1688, !10, i64 1696, !10, i64 1704, !10, i64 1712, !10, i64 1720, !10, i64 1728, !10, i64 1736, !10, i64 1744, !10, i64 1752, !10, i64 1760, !10, i64 1768, !10, i64 1776, !10, i64 1784, !10, i64 1792, !10, i64 1800, !10, i64 1808, !10, i64 1816, !10, i64 1824, !10, i64 1832, !10, i64 1840, !10, i64 1848, !10, i64 1856, !10, i64 1864, !10, i64 1872, !10, i64 1880, !10, i64 1888, !10, i64 1896, !10, i64 1904, !10, i64 1912, !10, i64 1920, !10, i64 1928, !10, i64 1936, !10, i64 1944, !10, i64 1952, !10, i64 1960, !10, i64 1968, !10, i64 1976, !10, i64 1984, !10, i64 1992, !10, i64 2000, !10, i64 2008, !10, i64 2016, !10, i64 2024, !10, i64 2032, !10, i64 2040, !10, i64 2048, !10, i64 2056, !10, i64 2064, !10, i64 2072, !10, i64 2080, !10, i64 2088, !10, i64 2096, !10, i64 2104, !10, i64 2112, !10, i64 2120, !10, i64 2128, !10, i64 2136, !10, i64 2144, !10, i64 2152, !10, i64 2160, !10, i64 2168, !10, i64 2176, !10, i64 2184, !10, i64 2192, !10, i64 2200, !10, i64 2208, !10, i64 2216, !10, i64 2224, !10, i64 2232, !10, i64 2240, !10, i64 2248, !10, i64 2256, !10, i64 2264, !10, i64 2272, !10, i64 2280, !10, i64 2288, !10, i64 2296, !10, i64 2304, !10, i64 2312, !10, i64 2320, !10, i64 2328, !10, i64 2336, !10, i64 2344, !10, i64 2352, !10, i64 2360, !10, i64 2368, !10, i64 2376, !10, i64 2384, !10, i64 2392, !10, i64 2400, !10, i64 2408, !10, i64 2416, !10, i64 2424, !10, i64 2432, !10, i64 2440, !10, i64 2448, !10, i64 2456, !10, i64 2464, !10, i64 2472, !10, i64 2480, !10, i64 2488, !10, i64 2496, !10, i64 2504, !10, i64 2512, !10, i64 2520, !10, i64 2528, !10, i64 2536, !10, i64 2544, !10, i64 2552, !10, i64 2560, !10, i64 2568, !10, i64 2576, !10, i64 2584, !10, i64 2592, !10, i64 2600, !10, i64 2608, !10, i64 2616, !10, i64 2624, !10, i64 2632, !10, i64 2640, !10, i64 2648, !10, i64 2656, !10, i64 2664, !10, i64 2672, !10, i64 2680, !10, i64 2688, !10, i64 2696, !10, i64 2704, !10, i64 2712, !10, i64 2720, !10, i64 2728, !10, i64 2736, !10, i64 2744, !10, i64 2752, !10, i64 2760, !10, i64 2768, !10, i64 2776, !10, i64 2784, !10, i64 2792, !10, i64 2800, !10, i64 2808, !10, i64 2816, !10, i64 2824, !10, i64 2832, !10, i64 2840, !10, i64 2848, !10, i64 2856, !10, i64 2864, !10, i64 2872, !10, i64 2880, !10, i64 2888, !10, i64 2896, !10, i64 2904, !10, i64 2912, !10, i64 2920, !10, i64 2928, !10, i64 2936, !10, i64 2944, !10, i64 2952, !10, i64 2960, !10, i64 2968, !10, i64 2976, !10, i64 2984, !10, i64 2992, !10, i64 3000, !10, i64 3008, !10, i64 3016, !10, i64 3024, !10, i64 3032, !10, i64 3040, !10, i64 3048, !10, i64 3056, !10, i64 3064, !10, i64 3072, !10, i64 3080, !10, i64 3088, !10, i64 3096, !10, i64 3104, !10, i64 3112, !10, i64 3120, !10, i64 3128, !10, i64 3136, !10, i64 3144, !10, i64 3152, !10, i64 3160, !10, i64 3168, !10, i64 3176, !10, i64 3184, !10, i64 3192, !10, i64 3200, !10, i64 3208, !10, i64 3216, !10, i64 3224, !10, i64 3232, !10, i64 3240, !10, i64 3248, !10, i64 3256, !10, i64 3264, !10, i64 3272, !10, i64 3280, !10, i64 3288, !10, i64 3296, !10, i64 3304, !10, i64 3312, !10, i64 3320, !10, i64 3328, !10, i64 3336, !10, i64 3344, !10, i64 3352, !10, i64 3360, !10, i64 3368, !10, i64 3376, !10, i64 3384, !10, i64 3392, !10, i64 3400, !10, i64 3408, !10, i64 3416, !10, i64 3424, !10, i64 3432, !10, i64 3440, !10, i64 3448, !10, i64 3456, !10, i64 3464, !10, i64 3472, !10, i64 3480, !10, i64 3488, !10, i64 3496, !10, i64 3504, !10, i64 3512, !10, i64 3520, !10, i64 3528, !10, i64 3536, !10, i64 3544, !10, i64 3552, !10, i64 3560, !10, i64 3568, !10, i64 3576, !10, i64 3584, !10, i64 3592, !10, i64 3600, !10, i64 3608, !10, i64 3616, !10, i64 3624, !10, i64 3632, !10, i64 3640, !10, i64 3648, !10, i64 3656, !10, i64 3664, !10, i64 3672, !10, i64 3680, !10, i64 3688, !10, i64 3696, !10, i64 3704, !10, i64 3712, !10, i64 3720, !10, i64 3728, !10, i64 3736, !10, i64 3744, !10, i64 3752, !10, i64 3760, !10, i64 3768, !10, i64 3776, !10, i64 3784, !10, i64 3792, !10, i64 3800, !10, i64 3808, !10, i64 3816, !10, i64 3824, !10, i64 3832, !10, i64 3840, !10, i64 3848, !10, i64 3856, !10, i64 3864, !10, i64 3872, !10, i64 3880, !10, i64 3888, !10, i64 3896, !10, i64 3904, !10, i64 3912, !10, i64 3920, !10, i64 3928, !10, i64 3936, !10, i64 3944, !10, i64 3952, !10, i64 3960, !10, i64 3968, !10, i64 3976, !10, i64 3984, !10, i64 3992, !10, i64 4000, !10, i64 4008, !10, i64 4016, !10, i64 4024, !10, i64 4032, !10, i64 4040, !10, i64 4048, !10, i64 4056, !10, i64 4064, !10, i64 4072, !10, i64 4080, !10, i64 4088, !10, i64 4096, !10, i64 4104, !10, i64 4112, !10, i64 4120, !10, i64 4128, !10, i64 4136, !10, i64 4144, !10, i64 4152, !10, i64 4160, !10, i64 4168, !10, i64 4176, !10, i64 4184, !10, i64 4192, !10, i64 4200, !10, i64 4208, !10, i64 4216, !10, i64 4224, !10, i64 4232, !10, i64 4240, !10, i64 4248, !10, i64 4256, !10, i64 4264, !10, i64 4272, !10, i64 4280}
!81 = !{!6, !11, i64 48}
!82 = !{!80, !11, i64 200}
!83 = !{!6, !11, i64 52}
!84 = !{!80, !11, i64 16}
!85 = !{!80, !10, i64 1328}
!86 = !{!80, !11, i64 32}
!87 = !{!80, !10, i64 1592}
!88 = !{!80, !10, i64 1624}
!89 = !{!80, !10, i64 1600}
!90 = !{!80, !10, i64 1632}
!91 = !{!8, !8, i64 0}
!92 = !{!80, !10, i64 1696}
!93 = distinct !{!93, !94}
!94 = !{!"llvm.loop.mustprogress"}
!95 = !{!80, !11, i64 8}
!96 = !{!80, !10, i64 3648}
!97 = !{!80, !10, i64 4264}
!98 = !{!80, !10, i64 4088}
!99 = !{!11, !11, i64 0}
!100 = !{!10, !10, i64 0}
!101 = distinct !{!101, !94}
!102 = !{!80, !10, i64 3656}
!103 = !{!80, !10, i64 3712}
!104 = distinct !{!104, !94}
!105 = !{!80, !11, i64 0}
!106 = !{!107, !10, i64 161656}
!107 = !{!"_ZTS7mjData_", !63, i64 0, !63, i64 8, !11, i64 16, !63, i64 24, !63, i64 32, !63, i64 40, !63, i64 48, !8, i64 56, !63, i64 1080, !11, i64 1088, !11, i64 1092, !8, i64 1096, !8, i64 1160, !8, i64 1400, !11, i64 161400, !8, i64 161404, !8, i64 161484, !8, i64 161568, !11, i64 161584, !11, i64 161588, !11, i64 161592, !11, i64 161596, !11, i64 161600, !11, i64 161604, !11, i64 161608, !33, i64 161616, !8, i64 161624, !10, i64 161640, !10, i64 161648, !10, i64 161656, !10, i64 161664, !10, i64 161672, !10, i64 161680, !10, i64 161688, !10, i64 161696, !10, i64 161704, !10, i64 161712, !10, i64 161720, !10, i64 161728, !10, i64 161736, !10, i64 161744, !10, i64 161752, !10, i64 161760, !10, i64 161768, !10, i64 161776, !10, i64 161784, !10, i64 161792, !10, i64 161800, !10, i64 161808, !10, i64 161816, !10, i64 161824, !10, i64 161832, !10, i64 161840, !10, i64 161848, !10, i64 161856, !10, i64 161864, !10, i64 161872, !10, i64 161880, !10, i64 161888, !10, i64 161896, !10, i64 161904, !10, i64 161912, !10, i64 161920, !10, i64 161928, !10, i64 161936, !10, i64 161944, !10, i64 161952, !10, i64 161960, !10, i64 161968, !10, i64 161976, !10, i64 161984, !10, i64 161992, !10, i64 162000, !10, i64 162008, !10, i64 162016, !10, i64 162024, !10, i64 162032, !10, i64 162040, !10, i64 162048, !10, i64 162056, !10, i64 162064, !10, i64 162072, !10, i64 162080, !10, i64 162088, !10, i64 162096, !10, i64 162104, !10, i64 162112, !10, i64 162120, !10, i64 162128, !10, i64 162136, !10, i64 162144, !10, i64 162152, !10, i64 162160, !10, i64 162168, !10, i64 162176, !10, i64 162184, !10, i64 162192, !10, i64 162200, !10, i64 162208, !10, i64 162216, !10, i64 162224, !10, i64 162232, !10, i64 162240, !10, i64 162248, !10, i64 162256, !10, i64 162264, !10, i64 162272, !10, i64 162280, !10, i64 162288, !10, i64 162296, !10, i64 162304, !10, i64 162312, !10, i64 162320, !10, i64 162328, !10, i64 162336, !10, i64 162344, !10, i64 162352, !10, i64 162360, !10, i64 162368, !10, i64 162376, !10, i64 162384, !10, i64 162392, !10, i64 162400, !10, i64 162408, !10, i64 162416, !10, i64 162424, !10, i64 162432, !10, i64 162440, !10, i64 162448, !10, i64 162456, !10, i64 162464, !10, i64 162472, !10, i64 162480, !10, i64 162488, !10, i64 162496, !10, i64 162504, !10, i64 162512, !10, i64 162520, !10, i64 162528, !10, i64 162536, !10, i64 162544, !10, i64 162552, !10, i64 162560, !10, i64 162568, !10, i64 162576, !10, i64 162584, !10, i64 162592, !10, i64 162600, !10, i64 162608, !10, i64 162616, !10, i64 162624, !10, i64 162632, !10, i64 162640, !10, i64 162648, !10, i64 162656, !10, i64 162664, !10, i64 162672, !10, i64 162680, !10, i64 162688, !10, i64 162696, !63, i64 162704}
!108 = !{!107, !10, i64 161696}
!109 = !{!6, !7, i64 0}
!110 = !{i8 0, i8 2}
!111 = !{}
!112 = !{!80, !10, i64 4208}
!113 = distinct !{!113, !94}
!114 = !{!6, !11, i64 56}
!115 = !{!6, !11, i64 60}
!116 = !{!6, !11, i64 64}
!117 = !{!6, !11, i64 13248}
!118 = distinct !{!118, !94}
!119 = !{i64 0, i64 8, !120, i64 8, i64 8, !120, i64 16, i64 8, !120, i64 24, i64 8, !120, i64 32, i64 8, !120, i64 40, i64 8, !120, i64 48, i64 8, !120, i64 56, i64 24, !91, i64 80, i64 24, !91, i64 104, i64 24, !91, i64 128, i64 8, !120, i64 136, i64 8, !120, i64 144, i64 8, !120, i64 152, i64 16, !91, i64 168, i64 40, !91, i64 208, i64 40, !91, i64 248, i64 4, !99, i64 252, i64 4, !99, i64 256, i64 4, !99, i64 260, i64 4, !99, i64 264, i64 4, !99, i64 268, i64 4, !99, i64 272, i64 4, !99, i64 276, i64 4, !99, i64 280, i64 4, !99, i64 284, i64 4, !99, i64 288, i64 4, !99, i64 292, i64 4, !99, i64 296, i64 4, !99}
!120 = !{!33, !33, i64 0}
!121 = !{!6, !10, i64 26496}
!122 = !{i64 0, i64 4, !99, i64 4, i64 4, !99, i64 8, i64 6, !91, i64 14, i64 6, !91, i64 20, i64 6, !91, i64 26, i64 6, !91, i64 32, i64 6, !91, i64 38, i64 6, !91, i64 44, i64 6, !91, i64 50, i64 32, !91, i64 84, i64 4, !99, i64 88, i64 4, !99}
!123 = !{!6, !10, i64 26488}
!124 = !{i64 0, i64 4, !99, i64 4, i64 4, !99, i64 8, i64 4, !99, i64 16, i64 24, !91, i64 40, i64 8, !120, i64 48, i64 8, !120, i64 56, i64 8, !120}
!125 = !{!126, !11, i64 4}
!126 = !{!"_ZTS14mjWarningStat_", !11, i64 0, !11, i64 4}
!127 = !{!6, !11, i64 12328}
!128 = !{!6, !11, i64 13200}
!129 = !{!130, !130, i64 0}
!130 = !{!"vtable pointer", !9, i64 0}
!131 = !{!6, !10, i64 4091304}
!132 = !{!6, !10, i64 4091256}
!133 = !{!6, !10, i64 26504}
!134 = !{!6, !11, i64 13272}
!135 = !{!80, !30, i64 648}
!136 = !{!30, !30, i64 0}
!137 = !{!6, !11, i64 17276}
!138 = distinct !{!138, !94}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,InstSimplifyPass,JumpThreadingPass,LCSSAPass,LICMPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,MemCpyOptPass,ReassociatePass,SLPVectorizerPass,SROAPass,SimplifyCFGPass,TailCallElimPass