; LLVM IR from shbang91/rpc :: simulator/mujoco/draco/simulate/simulate.ll (ZN6mujoco8Simulate10RenderLoopEv)

; 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"

%struct.mjuiDef_ = type { i32, [40 x i8], i32, ptr, [300 x i8] }
%"class.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%"struct.std::pair.48" = type { i32, i32 }
%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] }
%"class.std::chrono::time_point" = type { %"class.std::chrono::duration" }
%"class.std::chrono::duration" = type { i64 }
%"class.std::basic_ofstream" = type { %"class.std::basic_ostream.base", %"class.std::basic_filebuf", %"class.std::basic_ios" }
%"class.std::basic_ostream.base" = type { ptr }
%"class.std::basic_filebuf" = type { %"class.std::basic_streambuf", %union.pthread_mutex_t, %"class.std::__basic_file", i32, %struct.__mbstate_t, %struct.__mbstate_t, %struct.__mbstate_t, ptr, i64, i8, i8, i8, i8, ptr, ptr, i8, ptr, ptr, i64, ptr, ptr }
%"class.std::basic_streambuf" = type { ptr, ptr, ptr, ptr, ptr, ptr, ptr, %"class.std::locale" }
%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::__basic_file" = type <{ ptr, i8, [7 x i8] }>
%struct.__mbstate_t = type { i32, %union.anon.50 }
%union.anon.50 = type { i32 }
%"class.std::unique_ptr.40" = type { %"struct.std::__uniq_ptr_data.41" }
%"struct.std::__uniq_ptr_data.41" = type { %"class.std::__uniq_ptr_impl.42" }
%"class.std::__uniq_ptr_impl.42" = type { %"class.std::tuple.43" }
%"class.std::tuple.43" = type { %"struct.std::_Tuple_impl.44" }
%"struct.std::_Tuple_impl.44" = type { %"struct.std::_Head_base.47" }
%"struct.std::_Head_base.47" = type { ptr }
%"class.std::unique_lock" = type <{ ptr, i8, [7 x i8] }>
%struct.mjrRect_ = type { i32, i32, i32, i32 }
%"class.std::chrono::duration.51" = type { double }
%"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 }
%"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 }
%"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.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]] }
%"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 }

@mjcb_time = external global ptr, align 8
@_ZN12_GLOBAL__N_17defFileE = external hidden constant [8 x %struct.mjuiDef_], align 16
@.str.62 = external hidden unnamed_addr constant [25 x i8], align 1
@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str.63 = external hidden unnamed_addr constant [52 x i8], align 1
@.str.64 = external hidden unnamed_addr constant [15 x i8], align 1
@.str.65 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.66 = external hidden unnamed_addr constant [46 x i8], align 1
@_ZSt4cerr = external global %"class.std::basic_ostream", align 8
@.str.67 = external hidden unnamed_addr constant [39 x i8], align 1

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #0

declare i32 @__gxx_personality_v0(...)

; 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) #1

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

declare void @mjv_defaultScene(ptr noundef) #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN6mujoco8Simulate4SyncEv(ptr noundef nonnull align 8 dereferenceable(10060044)) #4 align 2

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt11unique_lockISt15recursive_mutexEC2ERS0_(ptr noundef nonnull align 8 dereferenceable(9), ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #4 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNKSt13__atomic_baseIiE4loadESt12memory_order(ptr noundef nonnull align 4 dereferenceable(4), i32 noundef) #6 align 2

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt11unique_lockISt15recursive_mutexED2Ev(ptr noundef nonnull align 8 dereferenceable(9)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN6mujoco8Simulate18LoadOnRenderThreadEv(ptr noundef nonnull align 8 dereferenceable(10060044)) #4 align 2

declare void @mjv_makeScene(ptr noundef, ptr noundef, i32 noundef) #3

; Function Attrs: mustprogress uwtable
declare hidden void @_ZN12_GLOBAL__N_18UiModifyEP5mjUI_P10mjuiState_P11mjrContext_(ptr noundef, ptr noundef, ptr noundef) #4

; 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)) #7 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN6mujoco8Simulate6RenderEv(ptr noundef nonnull align 8 dereferenceable(10060044)) #4 align 2

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znam(i64 noundef) #8

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrIA_hSt14default_deleteIS0_EEC2IPhS2_vbEET_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt10unique_ptrIA_hSt14default_deleteIS0_EEcvbEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

declare void @mju_error(ptr noundef, ...) #3

declare void @mjr_readPixels(ptr noundef, ptr noundef, i64, i64, ptr noundef) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt10unique_ptrIA_hSt14default_deleteIS0_EE3getEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 1 dereferenceable(1) ptr @_ZNKSt10unique_ptrIA_hSt14default_deleteIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZSt11swap_rangesIPhS0_ET0_T_S2_S1_(ptr noundef, ptr noundef, ptr noundef) #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrIA_hSt14default_deleteIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN6mujoco8Simulate10RenderLoopEv(ptr noundef nonnull align 8 dereferenceable(10060044) %0) #4 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca ptr, align 8
  %3 = alloca i32, align 4
  %4 = alloca %"struct.std::pair.48", align 4
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca %struct.mjuiThemeSpacing_, align 4
  %8 = alloca %struct.mjuiThemeColor_, align 4
  %9 = alloca %struct.mjuiThemeSpacing_, align 4
  %10 = alloca %struct.mjuiThemeColor_, align 4
  %11 = alloca %"class.std::chrono::time_point", align 8
  %12 = alloca i8, align 1
  %13 = alloca ptr, align 8
  %14 = alloca %"class.std::basic_ofstream", align 8
  %15 = alloca i32, align 4
  %16 = alloca i32, align 4
  %17 = alloca ptr, align 8
  %18 = alloca i32, align 4
  %19 = alloca %"class.std::unique_ptr.40", align 8
  %20 = alloca i32, align 4
  %21 = alloca %"class.std::unique_lock", align 8
  %22 = alloca %struct.mjrRect_, align 4
  %23 = alloca i32, align 4
  %24 = alloca ptr, align 8
  %25 = alloca ptr, align 8
  %26 = alloca i8, align 1
  %27 = alloca %"class.std::chrono::time_point", align 8
  %28 = alloca double, align 8
  %29 = alloca %"class.std::chrono::duration.51", align 8
  %30 = alloca %"class.std::chrono::duration", align 8
  %31 = alloca %"class.std::unique_lock", align 8
  store ptr %0, ptr %2, align 8, !tbaa !5
  %32 = load ptr, ptr %2, align 8
  store ptr @_ZN12_GLOBAL__N_15TimerEv, ptr @mjcb_time, align 8, !tbaa !5
  %33 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 79
  %34 = load ptr, ptr %33, align 8, !tbaa !9
  call void @mjv_defaultCamera(ptr noundef %34)
  %35 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 80
  %36 = load ptr, ptr %35, align 8, !tbaa !77
  call void @mjv_defaultOption(ptr noundef %36)
  call void @_ZN12_GLOBAL__N_118InitializeProfilerEPN6mujoco8SimulateE(ptr noundef %32)
  call void @_ZN12_GLOBAL__N_116InitializeSensorEPN6mujoco8SimulateE(ptr noundef %32)
  %37 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 0
  %38 = load i8, ptr %37, align 8, !tbaa !78, !range !79, !noundef !80
  %39 = trunc i8 %38 to i1
  br i1 %39, label %43, label %40

40:                                               ; preds = %1
  %41 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 78
  call void @mjv_defaultScene(ptr noundef %41)
  %42 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 78
  call void @mjv_makeScene(ptr noundef null, ptr noundef %42, i32 noundef 20000)
  br label %43

43:                                               ; preds = %40, %1
  %44 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 94
  %45 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %44) #12
  %46 = load ptr, ptr %45, align 8, !tbaa !81
  %47 = getelementptr inbounds ptr, ptr %46, i64 8
  %48 = load ptr, ptr %47, align 8
  %49 = call noundef zeroext i1 %48(ptr noundef nonnull align 8 dereferenceable(2900) %45)
  br i1 %49, label %57, label %50

50:                                               ; preds = %43
  %51 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 78
  %52 = getelementptr inbounds %struct.mjvScene_, ptr %51, i32 0, i32 35
  %53 = getelementptr inbounds [10 x i8], ptr %52, i64 0, i64 0
  store i8 0, ptr %53, align 4, !tbaa !83
  %54 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 78
  %55 = getelementptr inbounds %struct.mjvScene_, ptr %54, i32 0, i32 35
  %56 = getelementptr inbounds [10 x i8], ptr %55, i64 0, i64 2
  store i8 0, ptr %56, align 2, !tbaa !83
  br label %57

57:                                               ; preds = %50, %43
  call void @llvm.lifetime.start.p0(i64 4, ptr %3) #12
  %58 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 94
  %59 = call noundef nonnull align 8 dereferenceable(2900) ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %58) #12
  %60 = call noundef i32 @_ZN12_GLOBAL__N_116ComputeFontScaleERKN6mujoco17PlatformUIAdapterE(ptr noundef nonnull align 8 dereferenceable(2900) %59)
  store i32 %60, ptr %3, align 4, !tbaa !84
  %61 = load i32, ptr %3, align 4, !tbaa !84
  %62 = sdiv i32 %61, 50
  %63 = sub nsw i32 %62, 1
  %64 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 43
  store i32 %63, ptr %64, align 8, !tbaa !85
  %65 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 94
  %66 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %65) #12
  %67 = load i32, ptr %3, align 4, !tbaa !84
  %68 = load ptr, ptr %66, align 8, !tbaa !81
  %69 = getelementptr inbounds ptr, ptr %68, i64 2
  %70 = load ptr, ptr %69, align 8
  %71 = call noundef zeroext i1 %70(ptr noundef nonnull align 8 dereferenceable(2900) %66, ptr noundef null, i32 noundef %67)
  %72 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 95
  %73 = load ptr, ptr %72, align 8, !tbaa !86
  call void @llvm.memset.p0.i64(ptr align 8 %73, i8 0, i64 544, i1 false)
  %74 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 96
  call void @llvm.memset.p0.i64(ptr align 8 %74, i8 0, i64 2977568, i1 false)
  %75 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 97
  call void @llvm.memset.p0.i64(ptr align 8 %75, i8 0, i64 2977568, i1 false)
  call void @llvm.lifetime.start.p0(i64 8, ptr %4) #12
  %76 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 94
  %77 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %76) #12
  %78 = load ptr, ptr %77, align 8, !tbaa !81
  %79 = getelementptr inbounds ptr, ptr %78, i64 6
  %80 = load ptr, ptr %79, align 8
  %81 = call i64 %80(ptr noundef nonnull align 8 dereferenceable(2900) %77)
  store i64 %81, ptr %4, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #12
  %82 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3getILm0EiiEONSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOS4_(ptr noundef nonnull align 4 dereferenceable(8) %4) #12
  store ptr %82, ptr %5, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #12
  %83 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3getILm1EiiEONSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOS4_(ptr noundef nonnull align 4 dereferenceable(8) %4) #12
  store ptr %83, ptr %6, align 8, !tbaa !5
  %84 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 95
  %85 = load ptr, ptr %84, align 8, !tbaa !86
  %86 = getelementptr inbounds %struct.mjuiState_, ptr %85, i32 0, i32 0
  store i32 1, ptr %86, align 8, !tbaa !87
  %87 = load ptr, ptr %5, align 8, !tbaa !5
  %88 = load i32, ptr %87, align 4, !tbaa !84
  %89 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 95
  %90 = load ptr, ptr %89, align 8, !tbaa !86
  %91 = getelementptr inbounds %struct.mjuiState_, ptr %90, i32 0, i32 1
  %92 = getelementptr inbounds [25 x %struct.mjrRect_], ptr %91, i64 0, i64 0
  %93 = getelementptr inbounds %struct.mjrRect_, ptr %92, i32 0, i32 2
  store i32 %88, ptr %93, align 4, !tbaa !88
  %94 = load ptr, ptr %6, align 8, !tbaa !5
  %95 = load i32, ptr %94, align 4, !tbaa !84
  %96 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 95
  %97 = load ptr, ptr %96, align 8, !tbaa !86
  %98 = getelementptr inbounds %struct.mjuiState_, ptr %97, i32 0, i32 1
  %99 = getelementptr inbounds [25 x %struct.mjrRect_], ptr %98, i64 0, i64 0
  %100 = getelementptr inbounds %struct.mjrRect_, ptr %99, i32 0, i32 3
  store i32 %95, ptr %100, align 4, !tbaa !90
  call void @llvm.lifetime.start.p0(i64 44, ptr %7) #12
  %101 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 41
  %102 = load i32, ptr %101, align 8, !tbaa !91
  call void @mjui_themeSpacing(ptr dead_on_unwind writable sret(%struct.mjuiThemeSpacing_) align 4 %7, i32 noundef %102)
  %103 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 96
  %104 = getelementptr inbounds %struct.mjUI_, ptr %103, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %104, ptr align 4 %7, i64 44, i1 false), !tbaa.struct !92
  call void @llvm.lifetime.end.p0(i64 44, ptr %7) #12
  call void @llvm.lifetime.start.p0(i64 252, ptr %8) #12
  %105 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 42
  %106 = load i32, ptr %105, align 4, !tbaa !93
  call void @mjui_themeColor(ptr dead_on_unwind writable sret(%struct.mjuiThemeColor_) align 4 %8, i32 noundef %106)
  %107 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 96
  %108 = getelementptr inbounds %struct.mjUI_, ptr %107, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %108, ptr align 4 %8, i64 252, i1 false), !tbaa.struct !94
  call void @llvm.lifetime.end.p0(i64 252, ptr %8) #12
  %109 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 96
  %110 = getelementptr inbounds %struct.mjUI_, ptr %109, i32 0, i32 2
  store ptr @_ZN12_GLOBAL__N_111UiPredicateEiPv, ptr %110, align 8, !tbaa !95
  %111 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 96
  %112 = getelementptr inbounds %struct.mjUI_, ptr %111, i32 0, i32 4
  store i32 1, ptr %112, align 8, !tbaa !96
  %113 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 96
  %114 = getelementptr inbounds %struct.mjUI_, ptr %113, i32 0, i32 5
  store i32 0, ptr %114, align 4, !tbaa !97
  call void @llvm.lifetime.start.p0(i64 44, ptr %9) #12
  %115 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 41
  %116 = load i32, ptr %115, align 8, !tbaa !91
  call void @mjui_themeSpacing(ptr dead_on_unwind writable sret(%struct.mjuiThemeSpacing_) align 4 %9, i32 noundef %116)
  %117 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 97
  %118 = getelementptr inbounds %struct.mjUI_, ptr %117, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %118, ptr align 4 %9, i64 44, i1 false), !tbaa.struct !92
  call void @llvm.lifetime.end.p0(i64 44, ptr %9) #12
  call void @llvm.lifetime.start.p0(i64 252, ptr %10) #12
  %119 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 42
  %120 = load i32, ptr %119, align 4, !tbaa !93
  call void @mjui_themeColor(ptr dead_on_unwind writable sret(%struct.mjuiThemeColor_) align 4 %10, i32 noundef %120)
  %121 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 97
  %122 = getelementptr inbounds %struct.mjUI_, ptr %121, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %122, ptr align 4 %10, i64 252, i1 false), !tbaa.struct !94
  call void @llvm.lifetime.end.p0(i64 252, ptr %10) #12
  %123 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 97
  %124 = getelementptr inbounds %struct.mjUI_, ptr %123, i32 0, i32 2
  store ptr @_ZN12_GLOBAL__N_111UiPredicateEiPv, ptr %124, align 8, !tbaa !98
  %125 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 97
  %126 = getelementptr inbounds %struct.mjUI_, ptr %125, i32 0, i32 4
  store i32 2, ptr %126, align 8, !tbaa !99
  %127 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 97
  %128 = getelementptr inbounds %struct.mjUI_, ptr %127, i32 0, i32 5
  store i32 1, ptr %128, align 4, !tbaa !100
  %129 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 95
  %130 = load ptr, ptr %129, align 8, !tbaa !86
  %131 = getelementptr inbounds %struct.mjuiState_, ptr %130, i32 0, i32 2
  store ptr %32, ptr %131, align 8, !tbaa !101
  %132 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 94
  %133 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %132) #12
  call void @_ZN6mujoco17PlatformUIAdapter16SetEventCallbackEPFvP10mjuiState_E(ptr noundef nonnull align 8 dereferenceable(2900) %133, ptr noundef @_ZN12_GLOBAL__N_17UiEventEP10mjuiState_)
  %134 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 94
  %135 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %134) #12
  call void @_ZN6mujoco17PlatformUIAdapter17SetLayoutCallbackEPFvP10mjuiState_E(ptr noundef nonnull align 8 dereferenceable(2900) %135, ptr noundef @_ZN12_GLOBAL__N_18UiLayoutEP10mjuiState_)
  %136 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 96
  %137 = getelementptr inbounds %struct.mjUI_, ptr %136, i32 0, i32 3
  store ptr %32, ptr %137, align 8, !tbaa !102
  %138 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 97
  %139 = getelementptr inbounds %struct.mjUI_, ptr %138, i32 0, i32 3
  store ptr %32, ptr %139, align 8, !tbaa !103
  %140 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 96
  call void @mjui_add(ptr noundef %140, ptr noundef @_ZN12_GLOBAL__N_17defFileE)
  %141 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 96
  %142 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 98
  %143 = getelementptr inbounds [13 x %struct.mjuiDef_], ptr %142, i64 0, i64 0
  call void @mjui_add(ptr noundef %141, ptr noundef %143)
  %144 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 96
  %145 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 99
  %146 = getelementptr inbounds [14 x %struct.mjuiDef_], ptr %145, i64 0, i64 0
  call void @mjui_add(ptr noundef %144, ptr noundef %146)
  %147 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 96
  %148 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 100
  %149 = getelementptr inbounds [5 x %struct.mjuiDef_], ptr %148, i64 0, i64 0
  call void @mjui_add(ptr noundef %147, ptr noundef %149)
  %150 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 96
  %151 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 95
  %152 = load ptr, ptr %151, align 8, !tbaa !86
  %153 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 94
  %154 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %153) #12
  %155 = call noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900) %154)
  call void @_ZN12_GLOBAL__N_18UiModifyEP5mjUI_P10mjuiState_P11mjrContext_(ptr noundef %150, ptr noundef %152, ptr noundef %155)
  %156 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 97
  %157 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 95
  %158 = load ptr, ptr %157, align 8, !tbaa !86
  %159 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 94
  %160 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %159) #12
  %161 = call noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900) %160)
  call void @_ZN12_GLOBAL__N_18UiModifyEP5mjUI_P10mjuiState_P11mjrContext_(ptr noundef %156, ptr noundef %158, ptr noundef %161)
  %162 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 94
  %163 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %162) #12
  %164 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 52
  %165 = load i32, ptr %164, align 4, !tbaa !104
  %166 = icmp ne i32 %165, 0
  %167 = load ptr, ptr %163, align 8, !tbaa !81
  %168 = getelementptr inbounds ptr, ptr %167, i64 11
  %169 = load ptr, ptr %168, align 8
  call void %169(ptr noundef nonnull align 8 dereferenceable(2900) %163, i1 noundef zeroext %166)
  %170 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 37
  store i32 0, ptr %170, align 8, !tbaa !105
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #12
  %171 = call i64 @_ZNSt6chrono3_V212steady_clock3nowEv() #12
  %172 = getelementptr inbounds %"class.std::chrono::time_point", ptr %11, i32 0, i32 0
  %173 = getelementptr inbounds %"class.std::chrono::duration", ptr %172, i32 0, i32 0
  store i64 %171, ptr %173, align 8
  %174 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 39
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %174, ptr align 8 %11, i64 8, i1 false), !tbaa.struct !106
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #12
  call void @llvm.lifetime.start.p0(i64 1, ptr %12) #12
  store i8 0, ptr %12, align 1, !tbaa !108
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #12
  store ptr @.str.62, ptr %13, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 512, ptr %14) #12
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEEC1Ev(ptr noundef nonnull align 8 dereferenceable(248) %14)
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #12
  %175 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 95
  %176 = load ptr, ptr %175, align 8, !tbaa !86
  %177 = getelementptr inbounds %struct.mjuiState_, ptr %176, i32 0, i32 1
  %178 = getelementptr inbounds [25 x %struct.mjrRect_], ptr %177, i64 0, i64 0
  %179 = getelementptr inbounds %struct.mjrRect_, ptr %178, i32 0, i32 3
  %180 = load i32, ptr %179, align 4, !tbaa !90
  store i32 %180, ptr %15, align 4, !tbaa !84
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #12
  %181 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 95
  %182 = load ptr, ptr %181, align 8, !tbaa !86
  %183 = getelementptr inbounds %struct.mjuiState_, ptr %182, i32 0, i32 1
  %184 = getelementptr inbounds [25 x %struct.mjrRect_], ptr %183, i64 0, i64 0
  %185 = getelementptr inbounds %struct.mjrRect_, ptr %184, i32 0, i32 2
  %186 = load i32, ptr %185, align 4, !tbaa !88
  store i32 %186, ptr %16, align 4, !tbaa !84
  %187 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.63)
          to label %188 unwind label %217

188:                                              ; preds = %57
  %189 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %187, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %190 unwind label %217

190:                                              ; preds = %188
  %191 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.64)
          to label %192 unwind label %217

192:                                              ; preds = %190
  %193 = load i32, ptr %16, align 4, !tbaa !84
  %194 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %191, i32 noundef %193)
          to label %195 unwind label %217

195:                                              ; preds = %192
  %196 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %194, ptr noundef @.str.65)
          to label %197 unwind label %217

197:                                              ; preds = %195
  %198 = load i32, ptr %15, align 4, !tbaa !84
  %199 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %196, i32 noundef %198)
          to label %200 unwind label %217

200:                                              ; preds = %197
  %201 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %199, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %202 unwind label %217

202:                                              ; preds = %200
  %203 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.63)
          to label %204 unwind label %217

204:                                              ; preds = %202
  %205 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %203, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %206 unwind label %217

206:                                              ; preds = %204
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #12
  %207 = load i32, ptr %16, align 4, !tbaa !84
  %208 = mul i32 3, %207
  %209 = load i32, ptr %15, align 4, !tbaa !84
  %210 = mul i32 %208, %209
  %211 = zext i32 %210 to i64
  %212 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %211) #13
          to label %213 unwind label %221

213:                                              ; preds = %206
  call void @_ZNSt10unique_ptrIA_hSt14default_deleteIS0_EEC2IPhS2_vbEET_(ptr noundef nonnull align 8 dereferenceable(8) %19, ptr noundef %212) #12
  %214 = call noundef zeroext i1 @_ZNKSt10unique_ptrIA_hSt14default_deleteIS0_EEcvbEv(ptr noundef nonnull align 8 dereferenceable(8) %19) #12
  br i1 %214, label %229, label %215

215:                                              ; preds = %213
  invoke void (ptr, ...) @mju_error(ptr noundef @.str.66)
          to label %216 unwind label %225

216:                                              ; preds = %215
  br label %229

217:                                              ; preds = %204, %202, %200, %197, %195, %192, %190, %188, %57
  %218 = landingpad { ptr, i32 }
          cleanup
  %219 = extractvalue { ptr, i32 } %218, 0
  store ptr %219, ptr %17, align 8
  %220 = extractvalue { ptr, i32 } %218, 1
  store i32 %220, ptr %18, align 4
  br label %507

221:                                              ; preds = %206
  %222 = landingpad { ptr, i32 }
          cleanup
  %223 = extractvalue { ptr, i32 } %222, 0
  store ptr %223, ptr %17, align 8
  %224 = extractvalue { ptr, i32 } %222, 1
  store i32 %224, ptr %18, align 4
  br label %506

225:                                              ; preds = %236, %234, %231, %229, %215
  %226 = landingpad { ptr, i32 }
          cleanup
  %227 = extractvalue { ptr, i32 } %226, 0
  store ptr %227, ptr %17, align 8
  %228 = extractvalue { ptr, i32 } %226, 1
  store i32 %228, ptr %18, align 4
  br label %505

229:                                              ; preds = %216, %213
  %230 = load ptr, ptr %13, align 8, !tbaa !5
  invoke void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEE4openEPKcSt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(248) %14, ptr noundef %230, i32 noundef 4)
          to label %231 unwind label %225

231:                                              ; preds = %229
  %232 = invoke noundef zeroext i1 @_ZNSt14basic_ofstreamIcSt11char_traitsIcEE7is_openEv(ptr noundef nonnull align 8 dereferenceable(248) %14)
          to label %233 unwind label %225

233:                                              ; preds = %231
  br i1 %232, label %239, label %234

234:                                              ; preds = %233
  %235 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef @.str.67)
          to label %236 unwind label %225

236:                                              ; preds = %234
  %237 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %235, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %238 unwind label %225

238:                                              ; preds = %236
  call void @exit(i32 noundef 0) #14
  unreachable

239:                                              ; preds = %233
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #12
  store i32 0, ptr %20, align 4, !tbaa !84
  br label %240

240:                                              ; preds = %476, %239
  %241 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 94
  %242 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %241) #12
  %243 = load ptr, ptr %242, align 8, !tbaa !81
  %244 = getelementptr inbounds ptr, ptr %243, i64 13
  %245 = load ptr, ptr %244, align 8
  %246 = invoke noundef zeroext i1 %245(ptr noundef nonnull align 8 dereferenceable(2900) %242)
          to label %247 unwind label %263

247:                                              ; preds = %240
  br i1 %246, label %253, label %248

248:                                              ; preds = %247
  %249 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 57
  %250 = call noundef i32 @_ZNKSt13__atomic_baseIiE4loadESt12memory_order(ptr noundef nonnull align 4 dereferenceable(4) %249, i32 noundef 5) #12
  %251 = icmp ne i32 %250, 0
  %252 = xor i1 %251, true
  br label %253

253:                                              ; preds = %248, %247
  %254 = phi i1 [ false, %247 ], [ %252, %248 ]
  br i1 %254, label %255, label %477

255:                                              ; preds = %253
  call void @llvm.lifetime.start.p0(i64 16, ptr %21) #12
  %256 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 35
  invoke void @_ZNSt11unique_lockISt15recursive_mutexEC2ERS0_(ptr noundef nonnull align 8 dereferenceable(9) %21, ptr noundef nonnull align 8 dereferenceable(40) %256)
          to label %257 unwind label %267

257:                                              ; preds = %255
  %258 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 61
  %259 = load i32, ptr %258, align 8, !tbaa !109
  %260 = icmp eq i32 %259, 1
  br i1 %260, label %261, label %275

261:                                              ; preds = %257
  invoke void @_ZN6mujoco8Simulate18LoadOnRenderThreadEv(ptr noundef nonnull align 8 dereferenceable(10060044) %32)
          to label %262 unwind label %271

262:                                              ; preds = %261
  br label %282

263:                                              ; preds = %480, %442, %240
  %264 = landingpad { ptr, i32 }
          cleanup
  %265 = extractvalue { ptr, i32 } %264, 0
  store ptr %265, ptr %17, align 8
  %266 = extractvalue { ptr, i32 } %264, 1
  store i32 %266, ptr %18, align 4
  br label %504

267:                                              ; preds = %255
  %268 = landingpad { ptr, i32 }
          cleanup
  %269 = extractvalue { ptr, i32 } %268, 0
  store ptr %269, ptr %17, align 8
  %270 = extractvalue { ptr, i32 } %268, 1
  store i32 %270, ptr %18, align 4
  br label %471

271:                                              ; preds = %358, %349, %298, %289, %261
  %272 = landingpad { ptr, i32 }
          cleanup
  %273 = extractvalue { ptr, i32 } %272, 0
  store ptr %273, ptr %17, align 8
  %274 = extractvalue { ptr, i32 } %272, 1
  store i32 %274, ptr %18, align 4
  br label %470

275:                                              ; preds = %257
  %276 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 61
  %277 = load i32, ptr %276, align 8, !tbaa !109
  %278 = icmp eq i32 %277, 2
  br i1 %278, label %279, label %281

279:                                              ; preds = %275
  %280 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 61
  store i32 1, ptr %280, align 8, !tbaa !109
  br label %281

281:                                              ; preds = %279, %275
  br label %282

282:                                              ; preds = %281, %262
  %283 = load i8, ptr %12, align 1, !tbaa !108, !range !79, !noundef !80
  %284 = trunc i8 %283 to i1
  br i1 %284, label %285, label %358

285:                                              ; preds = %282
  %286 = load i32, ptr %20, align 4, !tbaa !84
  %287 = srem i32 %286, 30
  %288 = icmp eq i32 %287, 0
  br i1 %288, label %289, label %358

289:                                              ; preds = %285
  %290 = call noundef ptr @_ZNKSt10unique_ptrIA_hSt14default_deleteIS0_EE3getEv(ptr noundef nonnull align 8 dereferenceable(8) %19) #12
  %291 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 95
  %292 = load ptr, ptr %291, align 8, !tbaa !86
  %293 = getelementptr inbounds %struct.mjuiState_, ptr %292, i32 0, i32 1
  %294 = getelementptr inbounds [25 x %struct.mjrRect_], ptr %293, i64 0, i64 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %22, ptr align 4 %294, i64 16, i1 false), !tbaa.struct !110
  %295 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 94
  %296 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %295) #12
  %297 = invoke noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900) %296)
          to label %298 unwind label %271

298:                                              ; preds = %289
  %299 = getelementptr inbounds { i64, i64 }, ptr %22, i32 0, i32 0
  %300 = load i64, ptr %299, align 4
  %301 = getelementptr inbounds { i64, i64 }, ptr %22, i32 0, i32 1
  %302 = load i64, ptr %301, align 4
  invoke void @mjr_readPixels(ptr noundef %290, ptr noundef null, i64 %300, i64 %302, ptr noundef %297)
          to label %303 unwind label %271

303:                                              ; preds = %298
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #12
  store i32 0, ptr %23, align 4, !tbaa !84
  br label %304

304:                                              ; preds = %337, %303
  %305 = load i32, ptr %23, align 4, !tbaa !84
  %306 = load i32, ptr %15, align 4, !tbaa !84
  %307 = udiv i32 %306, 2
  %308 = icmp ult i32 %305, %307
  br i1 %308, label %310, label %309

309:                                              ; preds = %304
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #12
  br label %349

310:                                              ; preds = %304
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #12
  %311 = load i32, ptr %16, align 4, !tbaa !84
  %312 = mul i32 3, %311
  %313 = load i32, ptr %23, align 4, !tbaa !84
  %314 = mul i32 %312, %313
  %315 = zext i32 %314 to i64
  %316 = invoke noundef nonnull align 1 dereferenceable(1) ptr @_ZNKSt10unique_ptrIA_hSt14default_deleteIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(8) %19, i64 noundef %315)
          to label %317 unwind label %340

317:                                              ; preds = %310
  store ptr %316, ptr %24, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #12
  %318 = load i32, ptr %16, align 4, !tbaa !84
  %319 = mul i32 3, %318
  %320 = load i32, ptr %15, align 4, !tbaa !84
  %321 = sub i32 %320, 1
  %322 = load i32, ptr %23, align 4, !tbaa !84
  %323 = sub i32 %321, %322
  %324 = mul i32 %319, %323
  %325 = zext i32 %324 to i64
  %326 = invoke noundef nonnull align 1 dereferenceable(1) ptr @_ZNKSt10unique_ptrIA_hSt14default_deleteIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(8) %19, i64 noundef %325)
          to label %327 unwind label %344

327:                                              ; preds = %317
  store ptr %326, ptr %25, align 8, !tbaa !5
  %328 = load ptr, ptr %24, align 8, !tbaa !5
  %329 = load ptr, ptr %24, align 8, !tbaa !5
  %330 = load i32, ptr %16, align 4, !tbaa !84
  %331 = mul i32 3, %330
  %332 = zext i32 %331 to i64
  %333 = getelementptr inbounds i8, ptr %329, i64 %332
  %334 = load ptr, ptr %25, align 8, !tbaa !5
  %335 = invoke noundef ptr @_ZSt11swap_rangesIPhS0_ET0_T_S2_S1_(ptr noundef %328, ptr noundef %333, ptr noundef %334)
          to label %336 unwind label %344

336:                                              ; preds = %327
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #12
  br label %337

337:                                              ; preds = %336
  %338 = load i32, ptr %23, align 4, !tbaa !84
  %339 = add nsw i32 %338, 1
  store i32 %339, ptr %23, align 4, !tbaa !84
  br label %304, !llvm.loop !111

340:                                              ; preds = %310
  %341 = landingpad { ptr, i32 }
          cleanup
  %342 = extractvalue { ptr, i32 } %341, 0
  store ptr %342, ptr %17, align 8
  %343 = extractvalue { ptr, i32 } %341, 1
  store i32 %343, ptr %18, align 4
  br label %348

344:                                              ; preds = %327, %317
  %345 = landingpad { ptr, i32 }
          cleanup
  %346 = extractvalue { ptr, i32 } %345, 0
  store ptr %346, ptr %17, align 8
  %347 = extractvalue { ptr, i32 } %345, 1
  store i32 %347, ptr %18, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #12
  br label %348

348:                                              ; preds = %344, %340
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #12
  br label %470

349:                                              ; preds = %309
  %350 = call noundef ptr @_ZNKSt10unique_ptrIA_hSt14default_deleteIS0_EE3getEv(ptr noundef nonnull align 8 dereferenceable(8) %19) #12
  %351 = load i32, ptr %16, align 4, !tbaa !84
  %352 = mul i32 3, %351
  %353 = load i32, ptr %15, align 4, !tbaa !84
  %354 = mul i32 %352, %353
  %355 = zext i32 %354 to i64
  %356 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSo5writeEPKcl(ptr noundef nonnull align 8 dereferenceable(8) %14, ptr noundef %350, i64 noundef %355)
          to label %357 unwind label %271

357:                                              ; preds = %349
  br label %358

358:                                              ; preds = %357, %285, %282
  %359 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 94
  %360 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %359) #12
  %361 = load ptr, ptr %360, align 8, !tbaa !81
  %362 = getelementptr inbounds ptr, ptr %361, i64 9
  %363 = load ptr, ptr %362, align 8
  invoke void %363(ptr noundef nonnull align 8 dereferenceable(2900) %360)
          to label %364 unwind label %271

364:                                              ; preds = %358
  call void @llvm.lifetime.start.p0(i64 1, ptr %26) #12
  store i8 0, ptr %26, align 1, !tbaa !108
  %365 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 106
  %366 = load i32, ptr %365, align 8, !tbaa !113
  %367 = icmp ne i32 %366, -1
  br i1 %367, label %368, label %383

368:                                              ; preds = %364
  %369 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 4
  %370 = load ptr, ptr %369, align 8, !tbaa !114
  %371 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 94
  %372 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %371) #12
  %373 = invoke noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900) %372)
          to label %374 unwind label %379

374:                                              ; preds = %368
  %375 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 106
  %376 = load i32, ptr %375, align 8, !tbaa !113
  invoke void @mjr_uploadHField(ptr noundef %370, ptr noundef %373, i32 noundef %376)
          to label %377 unwind label %379

377:                                              ; preds = %374
  %378 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 106
  store i32 -1, ptr %378, align 8, !tbaa !113
  store i8 1, ptr %26, align 1, !tbaa !108
  br label %383

379:                                              ; preds = %424, %422, %408, %402, %393, %387, %374, %368
  %380 = landingpad { ptr, i32 }
          cleanup
  %381 = extractvalue { ptr, i32 } %380, 0
  store ptr %381, ptr %17, align 8
  %382 = extractvalue { ptr, i32 } %380, 1
  store i32 %382, ptr %18, align 4
  call void @llvm.lifetime.end.p0(i64 1, ptr %26) #12
  br label %470

383:                                              ; preds = %377, %364
  %384 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 105
  %385 = load i32, ptr %384, align 4, !tbaa !115
  %386 = icmp ne i32 %385, -1
  br i1 %386, label %387, label %398

387:                                              ; preds = %383
  %388 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 4
  %389 = load ptr, ptr %388, align 8, !tbaa !114
  %390 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 94
  %391 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %390) #12
  %392 = invoke noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900) %391)
          to label %393 unwind label %379

393:                                              ; preds = %387
  %394 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 105
  %395 = load i32, ptr %394, align 4, !tbaa !115
  invoke void @mjr_uploadMesh(ptr noundef %389, ptr noundef %392, i32 noundef %395)
          to label %396 unwind label %379

396:                                              ; preds = %393
  %397 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 105
  store i32 -1, ptr %397, align 4, !tbaa !115
  store i8 1, ptr %26, align 1, !tbaa !108
  br label %398

398:                                              ; preds = %396, %383
  %399 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 104
  %400 = load i32, ptr %399, align 8, !tbaa !116
  %401 = icmp ne i32 %400, -1
  br i1 %401, label %402, label %413

402:                                              ; preds = %398
  %403 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 4
  %404 = load ptr, ptr %403, align 8, !tbaa !114
  %405 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 94
  %406 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %405) #12
  %407 = invoke noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900) %406)
          to label %408 unwind label %379

408:                                              ; preds = %402
  %409 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 104
  %410 = load i32, ptr %409, align 8, !tbaa !116
  invoke void @mjr_uploadTexture(ptr noundef %404, ptr noundef %407, i32 noundef %410)
          to label %411 unwind label %379

411:                                              ; preds = %408
  %412 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 104
  store i32 -1, ptr %412, align 8, !tbaa !116
  store i8 1, ptr %26, align 1, !tbaa !108
  br label %413

413:                                              ; preds = %411, %398
  %414 = load i8, ptr %26, align 1, !tbaa !108, !range !79, !noundef !80
  %415 = trunc i8 %414 to i1
  br i1 %415, label %416, label %418

416:                                              ; preds = %413
  %417 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 103
  call void @_ZNSt3_V222condition_variable_any10notify_allEv(ptr noundef nonnull align 8 dereferenceable(64) %417) #12
  br label %418

418:                                              ; preds = %416, %413
  %419 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 0
  %420 = load i8, ptr %419, align 8, !tbaa !78, !range !79, !noundef !80
  %421 = trunc i8 %420 to i1
  br i1 %421, label %424, label %422

422:                                              ; preds = %418
  invoke void @_ZN6mujoco8Simulate4SyncEv(ptr noundef nonnull align 8 dereferenceable(10060044) %32)
          to label %423 unwind label %379

423:                                              ; preds = %422
  br label %442

424:                                              ; preds = %418
  %425 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 27
  %426 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 80
  %427 = load ptr, ptr %426, align 8, !tbaa !77
  %428 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 81
  %429 = load ptr, ptr %428, align 8, !tbaa !117
  %430 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 79
  %431 = load ptr, ptr %430, align 8, !tbaa !9
  %432 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 78
  %433 = invoke i32 @mjv_updateSceneFromState(ptr noundef %425, ptr noundef %427, ptr noundef %429, ptr noundef %431, i32 noundef 7, ptr noundef %432)
          to label %434 unwind label %379

434:                                              ; preds = %424
  %435 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 27
  %436 = getelementptr inbounds %struct.mjvSceneState_, ptr %435, i32 0, i32 5
  %437 = getelementptr inbounds %struct.anon.23, ptr %436, i32 0, i32 0
  %438 = getelementptr inbounds [8 x %struct.mjWarningStat_], ptr %437, i64 0, i64 3
  %439 = getelementptr inbounds %struct.mjWarningStat_, ptr %438, i32 0, i32 1
  %440 = load i32, ptr %439, align 4, !tbaa !118
  %441 = add nsw i32 %440, %433
  store i32 %441, ptr %439, align 4, !tbaa !118
  br label %442

442:                                              ; preds = %434, %423
  call void @llvm.lifetime.end.p0(i64 1, ptr %26) #12
  call void @_ZNSt11unique_lockISt15recursive_mutexED2Ev(ptr noundef nonnull align 8 dereferenceable(9) %21) #12
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #12
  invoke void @_ZN6mujoco8Simulate6RenderEv(ptr noundef nonnull align 8 dereferenceable(10060044) %32)
          to label %443 unwind label %263

443:                                              ; preds = %442
  %444 = load i32, ptr %20, align 4, !tbaa !84
  %445 = add nsw i32 %444, 1
  store i32 %445, ptr %20, align 4, !tbaa !84
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #12
  %446 = call i64 @_ZNSt6chrono3_V212steady_clock3nowEv() #12
  %447 = getelementptr inbounds %"class.std::chrono::time_point", ptr %27, i32 0, i32 0
  %448 = getelementptr inbounds %"class.std::chrono::duration", ptr %447, i32 0, i32 0
  store i64 %446, ptr %448, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #12
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #12
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #12
  %449 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 39
  %450 = invoke i64 @_ZNSt6chronomiINS_3_V212steady_clockENS_8durationIlSt5ratioILl1ELl1000000000EEEES6_EENSt11common_typeIJT0_T1_EE4typeERKNS_10time_pointIT_S8_EERKNSC_ISD_S9_EE(ptr noundef nonnull align 8 dereferenceable(8) %27, ptr noundef nonnull align 8 dereferenceable(8) %449)
          to label %451 unwind label %472

451:                                              ; preds = %443
  %452 = getelementptr inbounds %"class.std::chrono::duration", ptr %30, i32 0, i32 0
  store i64 %450, ptr %452, align 8
  invoke void @_ZNSt6chrono8durationIdSt5ratioILl1ELl1EEEC2IlS1_ILl1ELl1000000000EEvEERKNS0_IT_T0_EE(ptr noundef nonnull align 8 dereferenceable(8) %29, ptr noundef nonnull align 8 dereferenceable(8) %30)
          to label %453 unwind label %472

453:                                              ; preds = %451
  %454 = invoke noundef double @_ZNKSt6chrono8durationIdSt5ratioILl1ELl1EEE5countEv(ptr noundef nonnull align 8 dereferenceable(8) %29)
          to label %455 unwind label %472

455:                                              ; preds = %453
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #12
  store double %454, ptr %28, align 8, !tbaa !120
  %456 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 37
  %457 = load i32, ptr %456, align 8, !tbaa !105
  %458 = add nsw i32 %457, 1
  store i32 %458, ptr %456, align 8, !tbaa !105
  %459 = load double, ptr %28, align 8, !tbaa !120
  %460 = fcmp ogt double %459, 2.000000e-01
  br i1 %460, label %461, label %476

461:                                              ; preds = %455
  %462 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 39
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %462, ptr align 8 %27, i64 8, i1 false), !tbaa.struct !106
  %463 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 37
  %464 = load i32, ptr %463, align 8, !tbaa !105
  %465 = sitofp i32 %464 to double
  %466 = load double, ptr %28, align 8, !tbaa !120
  %467 = fdiv double %465, %466
  %468 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 40
  store double %467, ptr %468, align 8, !tbaa !121
  %469 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 37
  store i32 0, ptr %469, align 8, !tbaa !105
  br label %476

470:                                              ; preds = %379, %348, %271
  call void @_ZNSt11unique_lockISt15recursive_mutexED2Ev(ptr noundef nonnull align 8 dereferenceable(9) %21) #12
  br label %471

471:                                              ; preds = %470, %267
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #12
  br label %504

472:                                              ; preds = %453, %451, %443
  %473 = landingpad { ptr, i32 }
          cleanup
  %474 = extractvalue { ptr, i32 } %473, 0
  store ptr %474, ptr %17, align 8
  %475 = extractvalue { ptr, i32 } %473, 1
  store i32 %475, ptr %18, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #12
  br label %504

476:                                              ; preds = %461, %455
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #12
  br label %240, !llvm.loop !122

477:                                              ; preds = %253
  %478 = load i8, ptr %12, align 1, !tbaa !108, !range !79, !noundef !80
  %479 = trunc i8 %478 to i1
  br i1 %479, label %480, label %482

480:                                              ; preds = %477
  invoke void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEE5closeEv(ptr noundef nonnull align 8 dereferenceable(248) %14)
          to label %481 unwind label %263

481:                                              ; preds = %480
  br label %482

482:                                              ; preds = %481, %477
  call void @llvm.lifetime.start.p0(i64 16, ptr %31) #12
  %483 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 35
  invoke void @_ZNSt11unique_lockISt15recursive_mutexEC2ERS0_(ptr noundef nonnull align 8 dereferenceable(9) %31, ptr noundef nonnull align 8 dereferenceable(40) %483)
          to label %484 unwind label %493

484:                                              ; preds = %482
  %485 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 78
  invoke void @mjv_freeScene(ptr noundef %485)
          to label %486 unwind label %497

486:                                              ; preds = %484
  %487 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 0
  %488 = load i8, ptr %487, align 8, !tbaa !78, !range !79, !noundef !80
  %489 = trunc i8 %488 to i1
  br i1 %489, label %490, label %501

490:                                              ; preds = %486
  %491 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 27
  invoke void @mjv_freeSceneState(ptr noundef %491)
          to label %492 unwind label %497

492:                                              ; preds = %490
  br label %501

493:                                              ; preds = %482
  %494 = landingpad { ptr, i32 }
          cleanup
  %495 = extractvalue { ptr, i32 } %494, 0
  store ptr %495, ptr %17, align 8
  %496 = extractvalue { ptr, i32 } %494, 1
  store i32 %496, ptr %18, align 4
  br label %503

497:                                              ; preds = %490, %484
  %498 = landingpad { ptr, i32 }
          cleanup
  %499 = extractvalue { ptr, i32 } %498, 0
  store ptr %499, ptr %17, align 8
  %500 = extractvalue { ptr, i32 } %498, 1
  store i32 %500, ptr %18, align 4
  call void @_ZNSt11unique_lockISt15recursive_mutexED2Ev(ptr noundef nonnull align 8 dereferenceable(9) %31) #12
  br label %503

501:                                              ; preds = %492, %486
  %502 = getelementptr inbounds %"class.mujoco::Simulate", ptr %32, i32 0, i32 57
  call void @_ZNSt13__atomic_baseIiE5storeEiSt12memory_order(ptr noundef nonnull align 4 dereferenceable(4) %502, i32 noundef 2, i32 noundef 5) #12
  call void @_ZNSt11unique_lockISt15recursive_mutexED2Ev(ptr noundef nonnull align 8 dereferenceable(9) %31) #12
  call void @llvm.lifetime.end.p0(i64 16, ptr %31) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #12
  call void @_ZNSt10unique_ptrIA_hSt14default_deleteIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %19) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #12
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %14) #12
  call void @llvm.lifetime.end.p0(i64 512, ptr %14) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #12
  call void @llvm.lifetime.end.p0(i64 1, ptr %12) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr %4) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %3) #12
  ret void

503:                                              ; preds = %497, %493
  call void @llvm.lifetime.end.p0(i64 16, ptr %31) #12
  br label %504

504:                                              ; preds = %503, %472, %471, %263
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #12
  br label %505

505:                                              ; preds = %504, %225
  call void @_ZNSt10unique_ptrIA_hSt14default_deleteIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %19) #12
  br label %506

506:                                              ; preds = %505, %221
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #12
  br label %507

507:                                              ; preds = %506, %217
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #12
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %14) #12
  call void @llvm.lifetime.end.p0(i64 512, ptr %14) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #12
  call void @llvm.lifetime.end.p0(i64 1, ptr %12) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr %4) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %3) #12
  br label %508

508:                                              ; preds = %507
  %509 = load ptr, ptr %17, align 8
  %510 = load i32, ptr %18, align 4
  %511 = insertvalue { ptr, i32 } poison, ptr %509, 0
  %512 = insertvalue { ptr, i32 } %511, i32 %510, 1
  resume { ptr, i32 } %512
}

; Function Attrs: mustprogress uwtable
declare hidden noundef double @_ZN12_GLOBAL__N_15TimerEv() #4

declare void @mjv_defaultCamera(ptr noundef) #3

declare void @mjv_defaultOption(ptr noundef) #3

; Function Attrs: mustprogress uwtable
declare hidden void @_ZN12_GLOBAL__N_118InitializeProfilerEPN6mujoco8SimulateE(ptr noundef) #4

; Function Attrs: mustprogress uwtable
declare hidden void @_ZN12_GLOBAL__N_116InitializeSensorEPN6mujoco8SimulateE(ptr noundef) #4

; Function Attrs: mustprogress uwtable
declare hidden noundef i32 @_ZN12_GLOBAL__N_116ComputeFontScaleERKN6mujoco17PlatformUIAdapterE(ptr noundef nonnull align 8 dereferenceable(2900)) #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(2900) ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3getILm0EiiEONSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOS4_(ptr noundef nonnull align 4 dereferenceable(8)) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3getILm1EiiEONSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOS4_(ptr noundef nonnull align 4 dereferenceable(8)) #2

declare void @mjui_themeSpacing(ptr dead_on_unwind writable sret(%struct.mjuiThemeSpacing_) align 4, i32 noundef) #3

declare void @mjui_themeColor(ptr dead_on_unwind writable sret(%struct.mjuiThemeColor_) align 4, i32 noundef) #3

; Function Attrs: mustprogress nounwind uwtable
declare hidden noundef i32 @_ZN12_GLOBAL__N_111UiPredicateEiPv(i32 noundef, ptr noundef) #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN6mujoco17PlatformUIAdapter16SetEventCallbackEPFvP10mjuiState_E(ptr noundef nonnull align 8 dereferenceable(2900), ptr noundef) #7 align 2

; Function Attrs: mustprogress uwtable
declare hidden void @_ZN12_GLOBAL__N_17UiEventEP10mjuiState_(ptr noundef) #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN6mujoco17PlatformUIAdapter17SetLayoutCallbackEPFvP10mjuiState_E(ptr noundef nonnull align 8 dereferenceable(2900), ptr noundef) #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare hidden void @_ZN12_GLOBAL__N_18UiLayoutEP10mjuiState_(ptr noundef) #2

declare void @mjui_add(ptr noundef, ptr noundef) #3

; Function Attrs: nounwind
declare i64 @_ZNSt6chrono3_V212steady_clock3nowEv() #9

; Function Attrs: mustprogress uwtable
declare void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEEC1Ev(ptr noundef nonnull align 8 dereferenceable(248)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #10

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #10

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8), i32 noundef) #4 align 2

; Function Attrs: mustprogress uwtable
declare void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEE4openEPKcSt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(248), ptr noundef, i32 noundef) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare noundef zeroext i1 @_ZNSt14basic_ofstreamIcSt11char_traitsIcEE7is_openEv(ptr noundef nonnull align 8 dereferenceable(248)) #2 align 2

; Function Attrs: noreturn nounwind
declare void @exit(i32 noundef) #11

declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSo5writeEPKcl(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef, i64 noundef) #3

declare void @mjr_uploadHField(ptr noundef, ptr noundef, i32 noundef) #3

declare void @mjr_uploadMesh(ptr noundef, ptr noundef, i32 noundef) #3

declare void @mjr_uploadTexture(ptr noundef, ptr noundef, i32 noundef) #3

declare i32 @mjv_updateSceneFromState(ptr noundef, ptr noundef, ptr noundef, ptr noundef, i32 noundef, ptr noundef) #3

; Function Attrs: mustprogress uwtable
declare dso_local i64 @_ZNSt6chronomiINS_3_V212steady_clockENS_8durationIlSt5ratioILl1ELl1000000000EEEES6_EENSt11common_typeIJT0_T1_EE4typeERKNS_10time_pointIT_S8_EERKNSC_ISD_S9_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6chrono8durationIdSt5ratioILl1ELl1EEEC2IlS1_ILl1ELl1000000000EEvEERKNS0_IT_T0_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef double @_ZNKSt6chrono8durationIdSt5ratioILl1ELl1EEE5countEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress uwtable
declare void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEE5closeEv(ptr noundef nonnull align 8 dereferenceable(248)) #4 align 2

declare void @mjv_freeScene(ptr noundef) #3

declare void @mjv_freeSceneState(ptr noundef) #3

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local void @_ZNSt13__atomic_baseIiE5storeEiSt12memory_order(ptr noundef nonnull align 4 dereferenceable(4), i32 noundef, i32 noundef) #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248)) unnamed_addr #2 align 2

attributes #0 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 #3 = { "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 = { 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 #5 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #6 = { alwaysinline 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 = { 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 #8 = { nobuiltin allocsize(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 #9 = { nounwind "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 #10 = { 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 #11 = { noreturn nounwind "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 #12 = { nounwind }
attributes #13 = { builtin allocsize(0) }
attributes #14 = { noreturn 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 26488}
!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 26496}
!78 = !{!10, !11, i64 0}
!79 = !{i8 0, i8 2}
!80 = !{}
!81 = !{!82, !82, i64 0}
!82 = !{!"vtable pointer", !8, i64 0}
!83 = !{!7, !7, i64 0}
!84 = !{!12, !12, i64 0}
!85 = !{!10, !12, i64 13200}
!86 = !{!10, !6, i64 4091304}
!87 = !{!52, !12, i64 0}
!88 = !{!89, !12, i64 8}
!89 = !{!"_ZTS8mjrRect_", !12, i64 0, !12, i64 4, !12, i64 8, !12, i64 12}
!90 = !{!89, !12, i64 12}
!91 = !{!10, !12, i64 13192}
!92 = !{i64 0, i64 4, !84, i64 4, i64 4, !84, i64 8, i64 4, !84, i64 12, i64 4, !84, i64 16, i64 4, !84, i64 20, i64 4, !84, i64 24, i64 4, !84, i64 28, i64 4, !84, i64 32, i64 4, !84, i64 36, i64 4, !84, i64 40, i64 4, !84}
!93 = !{!10, !12, i64 13196}
!94 = !{i64 0, i64 12, !83, i64 12, i64 12, !83, i64 24, i64 12, !83, i64 36, i64 12, !83, i64 48, i64 12, !83, i64 60, i64 12, !83, i64 72, i64 12, !83, i64 84, i64 12, !83, i64 96, i64 12, !83, i64 108, i64 12, !83, i64 120, i64 12, !83, i64 132, i64 12, !83, i64 144, i64 12, !83, i64 156, i64 12, !83, i64 168, i64 12, !83, i64 180, i64 12, !83, i64 192, i64 12, !83, i64 204, i64 12, !83, i64 216, i64 12, !83, i64 228, i64 12, !83, i64 240, i64 12, !83}
!95 = !{!10, !6, i64 4091608}
!96 = !{!10, !12, i64 4091624}
!97 = !{!10, !12, i64 4091628}
!98 = !{!10, !6, i64 7069176}
!99 = !{!10, !12, i64 7069192}
!100 = !{!10, !12, i64 7069196}
!101 = !{!52, !6, i64 408}
!102 = !{!10, !6, i64 4091616}
!103 = !{!10, !6, i64 7069184}
!104 = !{!10, !12, i64 13236}
!105 = !{!10, !12, i64 13168}
!106 = !{i64 0, i64 8, !107}
!107 = !{!64, !64, i64 0}
!108 = !{!11, !11, i64 0}
!109 = !{!10, !12, i64 13272}
!110 = !{i64 0, i64 4, !84, i64 4, i64 4, !84, i64 8, i64 4, !84, i64 12, i64 4, !84}
!111 = distinct !{!111, !112}
!112 = !{!"llvm.loop.mustprogress"}
!113 = !{!10, !12, i64 10060040}
!114 = !{!10, !6, i64 24}
!115 = !{!10, !12, i64 10060036}
!116 = !{!10, !12, i64 10060032}
!117 = !{!10, !6, i64 26504}
!118 = !{!119, !12, i64 4}
!119 = !{!"_ZTS14mjWarningStat_", !12, i64 0, !12, i64 4}
!120 = !{!34, !34, i64 0}
!121 = !{!10, !34, i64 13184}
!122 = distinct !{!122, !112}


; 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"

%struct.mjuiDef_ = type { i32, [40 x i8], i32, ptr, [300 x i8] }
%"class.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%"struct.std::pair.48" = type { i32, i32 }
%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] }
%"class.std::basic_ofstream" = type { %"class.std::basic_ostream.base", %"class.std::basic_filebuf", %"class.std::basic_ios" }
%"class.std::basic_ostream.base" = type { ptr }
%"class.std::basic_filebuf" = type { %"class.std::basic_streambuf", %union.pthread_mutex_t, %"class.std::__basic_file", i32, %struct.__mbstate_t, %struct.__mbstate_t, %struct.__mbstate_t, ptr, i64, i8, i8, i8, i8, ptr, ptr, i8, ptr, ptr, i64, ptr, ptr }
%"class.std::basic_streambuf" = type { ptr, ptr, ptr, ptr, ptr, ptr, ptr, %"class.std::locale" }
%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::__basic_file" = type <{ ptr, i8, [7 x i8] }>
%struct.__mbstate_t = type { i32, %union.anon.50 }
%union.anon.50 = type { i32 }
%"class.std::unique_ptr.40" = type { %"struct.std::__uniq_ptr_data.41" }
%"struct.std::__uniq_ptr_data.41" = type { %"class.std::__uniq_ptr_impl.42" }
%"class.std::__uniq_ptr_impl.42" = type { %"class.std::tuple.43" }
%"class.std::tuple.43" = type { %"struct.std::_Tuple_impl.44" }
%"struct.std::_Tuple_impl.44" = type { %"struct.std::_Head_base.47" }
%"struct.std::_Head_base.47" = type { ptr }
%"class.std::unique_lock" = type <{ ptr, i8, [7 x i8] }>
%"class.std::chrono::time_point" = type { %"class.std::chrono::duration" }
%"class.std::chrono::duration" = type { i64 }
%"class.std::chrono::duration.51" = type { double }

@mjcb_time = external local_unnamed_addr global ptr, align 8
@_ZN12_GLOBAL__N_17defFileE = external hidden constant [8 x %struct.mjuiDef_], align 16
@.str.62 = external hidden unnamed_addr constant [25 x i8], align 1
@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str.63 = external hidden unnamed_addr constant [52 x i8], align 1
@.str.64 = external hidden unnamed_addr constant [15 x i8], align 1
@.str.65 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.66 = external hidden unnamed_addr constant [46 x i8], align 1
@_ZSt4cerr = external global %"class.std::basic_ostream", align 8
@.str.67 = external hidden unnamed_addr constant [39 x i8], align 1

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #0

declare i32 @__gxx_personality_v0(...)

; 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) #1

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

declare void @mjv_defaultScene(ptr noundef) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN6mujoco8Simulate4SyncEv(ptr noundef nonnull align 8 dereferenceable(10060044)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt11unique_lockISt15recursive_mutexEC2ERS0_(ptr noundef nonnull align 8 dereferenceable(9), ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #4 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNKSt13__atomic_baseIiE4loadESt12memory_order(ptr noundef nonnull align 4 dereferenceable(4), i32 noundef) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt11unique_lockISt15recursive_mutexED2Ev(ptr noundef nonnull align 8 dereferenceable(9)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN6mujoco8Simulate18LoadOnRenderThreadEv(ptr noundef nonnull align 8 dereferenceable(10060044)) local_unnamed_addr #4 align 2

declare void @mjv_makeScene(ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare hidden void @_ZN12_GLOBAL__N_18UiModifyEP5mjUI_P10mjuiState_P11mjrContext_(ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #4

; 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 #7 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN6mujoco8Simulate6RenderEv(ptr noundef nonnull align 8 dereferenceable(10060044)) local_unnamed_addr #4 align 2

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znam(i64 noundef) local_unnamed_addr #8

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrIA_hSt14default_deleteIS0_EEC2IPhS2_vbEET_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNKSt10unique_ptrIA_hSt14default_deleteIS0_EEcvbEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

declare void @mju_error(ptr noundef, ...) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10unique_ptrIA_hSt14default_deleteIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN6mujoco8Simulate10RenderLoopEv(ptr noundef nonnull align 8 dereferenceable(10060044) %0) local_unnamed_addr #4 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca %"struct.std::pair.48", align 8
  %3 = alloca %struct.mjuiThemeSpacing_, align 4
  %4 = alloca %struct.mjuiThemeColor_, align 4
  %5 = alloca %struct.mjuiThemeSpacing_, align 4
  %6 = alloca %struct.mjuiThemeColor_, align 4
  %7 = alloca %"class.std::basic_ofstream", align 8
  %8 = alloca %"class.std::unique_ptr.40", align 8
  %9 = alloca %"class.std::unique_lock", align 8
  %10 = alloca %"class.std::chrono::time_point", align 8
  %11 = alloca %"class.std::chrono::duration.51", align 8
  %12 = alloca %"class.std::chrono::duration", align 8
  %13 = alloca %"class.std::unique_lock", align 8
  store ptr @_ZN12_GLOBAL__N_15TimerEv, ptr @mjcb_time, align 8, !tbaa !5
  %14 = getelementptr inbounds i8, ptr %0, i64 26488
  %15 = load ptr, ptr %14, align 8, !tbaa !9
  tail call void @mjv_defaultCamera(ptr noundef %15)
  %16 = getelementptr inbounds i8, ptr %0, i64 26496
  %17 = load ptr, ptr %16, align 8, !tbaa !77
  tail call void @mjv_defaultOption(ptr noundef %17)
  tail call void @_ZN12_GLOBAL__N_118InitializeProfilerEPN6mujoco8SimulateE(ptr noundef nonnull %0)
  tail call void @_ZN12_GLOBAL__N_116InitializeSensorEPN6mujoco8SimulateE(ptr noundef nonnull %0)
  %18 = load i8, ptr %0, align 8, !tbaa !78, !range !79, !noundef !80
  %19 = trunc nuw i8 %18 to i1
  br i1 %19, label %22, label %20

20:                                               ; preds = %1
  %21 = getelementptr inbounds i8, ptr %0, i64 17720
  tail call void @mjv_defaultScene(ptr noundef nonnull %21)
  tail call void @mjv_makeScene(ptr noundef null, ptr noundef nonnull %21, i32 noundef 20000)
  br label %22

22:                                               ; preds = %20, %1
  %23 = getelementptr inbounds i8, ptr %0, i64 4091296
  %24 = tail call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23) #12
  %25 = load ptr, ptr %24, align 8, !tbaa !81
  %26 = getelementptr inbounds i8, ptr %25, i64 64
  %27 = load ptr, ptr %26, align 8
  %28 = tail call noundef zeroext i1 %27(ptr noundef nonnull align 8 dereferenceable(2900) %24)
  br i1 %28, label %32, label %29

29:                                               ; preds = %22
  %30 = getelementptr inbounds i8, ptr %0, i64 26460
  store i8 0, ptr %30, align 4, !tbaa !83
  %31 = getelementptr inbounds i8, ptr %0, i64 26462
  store i8 0, ptr %31, align 2, !tbaa !83
  br label %32

32:                                               ; preds = %29, %22
  %33 = tail call noundef nonnull align 8 dereferenceable(2900) ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %23) #12
  %34 = tail call noundef i32 @_ZN12_GLOBAL__N_116ComputeFontScaleERKN6mujoco17PlatformUIAdapterE(ptr noundef nonnull align 8 dereferenceable(2900) %33)
  %35 = sdiv i32 %34, 50
  %36 = add nsw i32 %35, -1
  %37 = getelementptr inbounds i8, ptr %0, i64 13200
  store i32 %36, ptr %37, align 8, !tbaa !84
  %38 = tail call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23) #12
  %39 = load ptr, ptr %38, align 8, !tbaa !81
  %40 = getelementptr inbounds i8, ptr %39, i64 16
  %41 = load ptr, ptr %40, align 8
  %42 = tail call noundef zeroext i1 %41(ptr noundef nonnull align 8 dereferenceable(2900) %38, ptr noundef null, i32 noundef %34)
  %43 = getelementptr inbounds i8, ptr %0, i64 4091304
  %44 = load ptr, ptr %43, align 8, !tbaa !85
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(544) %44, i8 0, i64 544, i1 false)
  %45 = getelementptr inbounds i8, ptr %0, i64 4091312
  %46 = getelementptr inbounds i8, ptr %0, i64 7068880
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(5955136) %45, i8 0, i64 5955136, i1 false)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %2) #12
  %47 = tail call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23) #12
  %48 = load ptr, ptr %47, align 8, !tbaa !81
  %49 = getelementptr inbounds i8, ptr %48, i64 48
  %50 = load ptr, ptr %49, align 8
  %51 = tail call i64 %50(ptr noundef nonnull align 8 dereferenceable(2900) %47)
  store i64 %51, ptr %2, align 8
  %52 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3getILm0EiiEONSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOS4_(ptr noundef nonnull align 4 dereferenceable(8) %2) #12
  %53 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3getILm1EiiEONSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOS4_(ptr noundef nonnull align 4 dereferenceable(8) %2) #12
  %54 = load ptr, ptr %43, align 8, !tbaa !85
  store i32 1, ptr %54, align 8, !tbaa !86
  %55 = load i32, ptr %52, align 4, !tbaa !87
  %56 = getelementptr inbounds i8, ptr %54, i64 12
  store i32 %55, ptr %56, align 4, !tbaa !88
  %57 = load i32, ptr %53, align 4, !tbaa !87
  %58 = getelementptr inbounds i8, ptr %54, i64 16
  store i32 %57, ptr %58, align 4, !tbaa !90
  call void @llvm.lifetime.start.p0(i64 44, ptr nonnull %3) #12
  %59 = getelementptr inbounds i8, ptr %0, i64 13192
  %60 = load i32, ptr %59, align 8, !tbaa !91
  call void @mjui_themeSpacing(ptr dead_on_unwind nonnull writable sret(%struct.mjuiThemeSpacing_) align 4 %3, i32 noundef %60)
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(44) %45, ptr noundef nonnull align 4 dereferenceable(44) %3, i64 44, i1 false), !tbaa.struct !92
  call void @llvm.lifetime.end.p0(i64 44, ptr nonnull %3) #12
  call void @llvm.lifetime.start.p0(i64 252, ptr nonnull %4) #12
  %61 = getelementptr inbounds i8, ptr %0, i64 13196
  %62 = load i32, ptr %61, align 4, !tbaa !93
  call void @mjui_themeColor(ptr dead_on_unwind nonnull writable sret(%struct.mjuiThemeColor_) align 4 %4, i32 noundef %62)
  %63 = getelementptr inbounds i8, ptr %0, i64 4091356
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 4 dereferenceable(252) %63, ptr noundef nonnull align 4 dereferenceable(252) %4, i64 252, i1 false), !tbaa.struct !94
  call void @llvm.lifetime.end.p0(i64 252, ptr nonnull %4) #12
  %64 = getelementptr inbounds i8, ptr %0, i64 4091608
  store ptr @_ZN12_GLOBAL__N_111UiPredicateEiPv, ptr %64, align 8, !tbaa !95
  %65 = getelementptr inbounds i8, ptr %0, i64 4091624
  store i32 1, ptr %65, align 8, !tbaa !96
  %66 = getelementptr inbounds i8, ptr %0, i64 4091628
  store i32 0, ptr %66, align 4, !tbaa !97
  call void @llvm.lifetime.start.p0(i64 44, ptr nonnull %5) #12
  %67 = load i32, ptr %59, align 8, !tbaa !91
  call void @mjui_themeSpacing(ptr dead_on_unwind nonnull writable sret(%struct.mjuiThemeSpacing_) align 4 %5, i32 noundef %67)
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(44) %46, ptr noundef nonnull align 4 dereferenceable(44) %5, i64 44, i1 false), !tbaa.struct !92
  call void @llvm.lifetime.end.p0(i64 44, ptr nonnull %5) #12
  call void @llvm.lifetime.start.p0(i64 252, ptr nonnull %6) #12
  %68 = load i32, ptr %61, align 4, !tbaa !93
  call void @mjui_themeColor(ptr dead_on_unwind nonnull writable sret(%struct.mjuiThemeColor_) align 4 %6, i32 noundef %68)
  %69 = getelementptr inbounds i8, ptr %0, i64 7068924
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 4 dereferenceable(252) %69, ptr noundef nonnull align 4 dereferenceable(252) %6, i64 252, i1 false), !tbaa.struct !94
  call void @llvm.lifetime.end.p0(i64 252, ptr nonnull %6) #12
  %70 = getelementptr inbounds i8, ptr %0, i64 7069176
  store ptr @_ZN12_GLOBAL__N_111UiPredicateEiPv, ptr %70, align 8, !tbaa !98
  %71 = getelementptr inbounds i8, ptr %0, i64 7069192
  store i32 2, ptr %71, align 8, !tbaa !99
  %72 = getelementptr inbounds i8, ptr %0, i64 7069196
  store i32 1, ptr %72, align 4, !tbaa !100
  %73 = load ptr, ptr %43, align 8, !tbaa !85
  %74 = getelementptr inbounds i8, ptr %73, i64 408
  store ptr %0, ptr %74, align 8, !tbaa !101
  %75 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23) #12
  call void @_ZN6mujoco17PlatformUIAdapter16SetEventCallbackEPFvP10mjuiState_E(ptr noundef nonnull align 8 dereferenceable(2900) %75, ptr noundef nonnull @_ZN12_GLOBAL__N_17UiEventEP10mjuiState_)
  %76 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23) #12
  call void @_ZN6mujoco17PlatformUIAdapter17SetLayoutCallbackEPFvP10mjuiState_E(ptr noundef nonnull align 8 dereferenceable(2900) %76, ptr noundef nonnull @_ZN12_GLOBAL__N_18UiLayoutEP10mjuiState_)
  %77 = getelementptr inbounds i8, ptr %0, i64 4091616
  store ptr %0, ptr %77, align 8, !tbaa !102
  %78 = getelementptr inbounds i8, ptr %0, i64 7069184
  store ptr %0, ptr %78, align 8, !tbaa !103
  call void @mjui_add(ptr noundef nonnull %45, ptr noundef nonnull @_ZN12_GLOBAL__N_17defFileE)
  %79 = getelementptr inbounds i8, ptr %0, i64 10046448
  call void @mjui_add(ptr noundef nonnull %45, ptr noundef nonnull %79)
  %80 = getelementptr inbounds i8, ptr %0, i64 10051128
  call void @mjui_add(ptr noundef nonnull %45, ptr noundef nonnull %80)
  %81 = getelementptr inbounds i8, ptr %0, i64 10056168
  call void @mjui_add(ptr noundef nonnull %45, ptr noundef nonnull %81)
  %82 = load ptr, ptr %43, align 8, !tbaa !85
  %83 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23) #12
  %84 = call noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900) %83)
  call void @_ZN12_GLOBAL__N_18UiModifyEP5mjUI_P10mjuiState_P11mjrContext_(ptr noundef nonnull %45, ptr noundef %82, ptr noundef nonnull %84)
  %85 = load ptr, ptr %43, align 8, !tbaa !85
  %86 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23) #12
  %87 = call noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900) %86)
  call void @_ZN12_GLOBAL__N_18UiModifyEP5mjUI_P10mjuiState_P11mjrContext_(ptr noundef nonnull %46, ptr noundef %85, ptr noundef nonnull %87)
  %88 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23) #12
  %89 = getelementptr inbounds i8, ptr %0, i64 13236
  %90 = load i32, ptr %89, align 4, !tbaa !104
  %91 = icmp ne i32 %90, 0
  %92 = load ptr, ptr %88, align 8, !tbaa !81
  %93 = getelementptr inbounds i8, ptr %92, i64 88
  %94 = load ptr, ptr %93, align 8
  call void %94(ptr noundef nonnull align 8 dereferenceable(2900) %88, i1 noundef zeroext %91)
  %95 = getelementptr inbounds i8, ptr %0, i64 13168
  store i32 0, ptr %95, align 8, !tbaa !105
  %96 = call i64 @_ZNSt6chrono3_V212steady_clock3nowEv() #12
  %97 = getelementptr inbounds i8, ptr %0, i64 13176
  store i64 %96, ptr %97, align 8, !tbaa !106
  call void @llvm.lifetime.start.p0(i64 512, ptr nonnull %7) #12
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEEC1Ev(ptr noundef nonnull align 8 dereferenceable(248) %7)
  %98 = load ptr, ptr %43, align 8, !tbaa !85
  %99 = getelementptr inbounds i8, ptr %98, i64 16
  %100 = load i32, ptr %99, align 4, !tbaa !90
  %101 = getelementptr inbounds i8, ptr %98, i64 12
  %102 = load i32, ptr %101, align 4, !tbaa !88
  %103 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.63)
          to label %104 unwind label %128

104:                                              ; preds = %32
  %105 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %103, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %106 unwind label %128

106:                                              ; preds = %104
  %107 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.64)
          to label %108 unwind label %128

108:                                              ; preds = %106
  %109 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %107, i32 noundef %102)
          to label %110 unwind label %128

110:                                              ; preds = %108
  %111 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %109, ptr noundef nonnull @.str.65)
          to label %112 unwind label %128

112:                                              ; preds = %110
  %113 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %111, i32 noundef %100)
          to label %114 unwind label %128

114:                                              ; preds = %112
  %115 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %113, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %116 unwind label %128

116:                                              ; preds = %114
  %117 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.63)
          to label %118 unwind label %128

118:                                              ; preds = %116
  %119 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %117, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %120 unwind label %128

120:                                              ; preds = %118
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #12
  %121 = mul i32 %100, 3
  %122 = mul i32 %121, %102
  %123 = zext i32 %122 to i64
  %124 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %123) #13
          to label %125 unwind label %130

125:                                              ; preds = %120
  call void @_ZNSt10unique_ptrIA_hSt14default_deleteIS0_EEC2IPhS2_vbEET_(ptr noundef nonnull align 8 dereferenceable(8) %8, ptr noundef nonnull %124) #12
  %126 = call noundef zeroext i1 @_ZNKSt10unique_ptrIA_hSt14default_deleteIS0_EEcvbEv(ptr noundef nonnull align 8 dereferenceable(8) %8) #12
  br i1 %126, label %134, label %127

127:                                              ; preds = %125
  invoke void (ptr, ...) @mju_error(ptr noundef nonnull @.str.66)
          to label %134 unwind label %132

128:                                              ; preds = %118, %116, %114, %112, %110, %108, %106, %104, %32
  %129 = landingpad { ptr, i32 }
          cleanup
  br label %250

130:                                              ; preds = %120
  %131 = landingpad { ptr, i32 }
          cleanup
  br label %249

132:                                              ; preds = %152, %150, %134, %127
  %133 = landingpad { ptr, i32 }
          cleanup
  br label %248

134:                                              ; preds = %127, %125
  invoke void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEE4openEPKcSt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(248) %7, ptr noundef nonnull @.str.62, i32 noundef 4)
          to label %135 unwind label %132

135:                                              ; preds = %134
  %136 = call noundef zeroext i1 @_ZNSt14basic_ofstreamIcSt11char_traitsIcEE7is_openEv(ptr noundef nonnull align 8 dereferenceable(248) %7)
  br i1 %136, label %.preheader, label %150

.preheader:                                       ; preds = %135
  %137 = getelementptr inbounds i8, ptr %0, i64 13256
  %138 = getelementptr inbounds i8, ptr %0, i64 13064
  %139 = getelementptr inbounds i8, ptr %0, i64 13272
  %140 = getelementptr inbounds i8, ptr %0, i64 10060040
  %141 = getelementptr inbounds i8, ptr %0, i64 24
  %142 = getelementptr inbounds i8, ptr %0, i64 10060036
  %143 = getelementptr inbounds i8, ptr %0, i64 10060032
  %144 = getelementptr inbounds i8, ptr %0, i64 10059968
  %145 = getelementptr inbounds i8, ptr %0, i64 408
  %146 = getelementptr inbounds i8, ptr %0, i64 26504
  %147 = getelementptr inbounds i8, ptr %0, i64 17720
  %148 = getelementptr inbounds i8, ptr %0, i64 11508
  %149 = getelementptr inbounds i8, ptr %0, i64 13184
  br label %155

150:                                              ; preds = %135
  %151 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef nonnull @.str.67)
          to label %152 unwind label %132

152:                                              ; preds = %150
  %153 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %151, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %154 unwind label %132

154:                                              ; preds = %152
  call void @exit(i32 noundef 0) #14
  unreachable

155:                                              ; preds = %.preheader, %236
  %156 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23) #12
  %157 = load ptr, ptr %156, align 8, !tbaa !81
  %158 = getelementptr inbounds i8, ptr %157, i64 104
  %159 = load ptr, ptr %158, align 8
  %160 = invoke noundef zeroext i1 %159(ptr noundef nonnull align 8 dereferenceable(2900) %156)
          to label %161 unwind label %168

161:                                              ; preds = %155
  br i1 %160, label %.critedge, label %162

162:                                              ; preds = %161
  %163 = call noundef i32 @_ZNKSt13__atomic_baseIiE4loadESt12memory_order(ptr noundef nonnull align 4 dereferenceable(4) %137, i32 noundef 5) #12
  %.not = icmp eq i32 %163, 0
  br i1 %.not, label %164, label %.critedge

164:                                              ; preds = %162
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %9) #12
  invoke void @_ZNSt11unique_lockISt15recursive_mutexEC2ERS0_(ptr noundef nonnull align 8 dereferenceable(9) %9, ptr noundef nonnull align 8 dereferenceable(40) %138)
          to label %165 unwind label %170

165:                                              ; preds = %164
  %166 = load i32, ptr %139, align 8, !tbaa !107
  switch i32 %166, label %175 [
    i32 1, label %167
    i32 2, label %174
  ]

167:                                              ; preds = %165
  invoke void @_ZN6mujoco8Simulate18LoadOnRenderThreadEv(ptr noundef nonnull align 8 dereferenceable(10060044) %0)
          to label %175 unwind label %172

168:                                              ; preds = %218, %155
  %169 = landingpad { ptr, i32 }
          cleanup
  br label %248

170:                                              ; preds = %164
  %171 = landingpad { ptr, i32 }
          cleanup
  br label %233

172:                                              ; preds = %175, %167
  %173 = landingpad { ptr, i32 }
          cleanup
  br label %232

174:                                              ; preds = %165
  store i32 1, ptr %139, align 8, !tbaa !107
  br label %175

175:                                              ; preds = %167, %174, %165
  %176 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23) #12
  %177 = load ptr, ptr %176, align 8, !tbaa !81
  %178 = getelementptr inbounds i8, ptr %177, i64 72
  %179 = load ptr, ptr %178, align 8
  invoke void %179(ptr noundef nonnull align 8 dereferenceable(2900) %176)
          to label %180 unwind label %172

180:                                              ; preds = %175
  %181 = load i32, ptr %140, align 8, !tbaa !108
  %.not47.not = icmp eq i32 %181, -1
  br i1 %.not47.not, label %190, label %182

182:                                              ; preds = %180
  %183 = load ptr, ptr %141, align 8, !tbaa !109
  %184 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23) #12
  %185 = call noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900) %184)
  %186 = load i32, ptr %140, align 8, !tbaa !108
  invoke void @mjr_uploadHField(ptr noundef %183, ptr noundef nonnull %185, i32 noundef %186)
          to label %187 unwind label %188

187:                                              ; preds = %182
  store i32 -1, ptr %140, align 8, !tbaa !108
  br label %190

188:                                              ; preds = %210, %209, %200, %192, %182
  %189 = landingpad { ptr, i32 }
          cleanup
  br label %232

190:                                              ; preds = %187, %180
  %191 = load i32, ptr %142, align 4, !tbaa !110
  %.not48 = icmp eq i32 %191, -1
  br i1 %.not48, label %197, label %192

192:                                              ; preds = %190
  %193 = load ptr, ptr %141, align 8, !tbaa !109
  %194 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23) #12
  %195 = call noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900) %194)
  %196 = load i32, ptr %142, align 4, !tbaa !110
  invoke void @mjr_uploadMesh(ptr noundef %193, ptr noundef nonnull %195, i32 noundef %196)
          to label %.thread unwind label %188

197:                                              ; preds = %190
  %198 = load i32, ptr %143, align 8, !tbaa !111
  %.not49 = icmp eq i32 %198, -1
  br i1 %.not49, label %205, label %200

.thread:                                          ; preds = %192
  store i32 -1, ptr %142, align 4, !tbaa !110
  %199 = load i32, ptr %143, align 8, !tbaa !111
  %.not4961 = icmp eq i32 %199, -1
  br i1 %.not4961, label %.thread63, label %200

200:                                              ; preds = %.thread, %197
  %201 = load ptr, ptr %141, align 8, !tbaa !109
  %202 = call noundef ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23) #12
  %203 = call noundef nonnull align 8 dereferenceable(2312) ptr @_ZN6mujoco17PlatformUIAdapter11mjr_contextEv(ptr noundef nonnull align 8 dereferenceable(2900) %202)
  %204 = load i32, ptr %143, align 8, !tbaa !111
  invoke void @mjr_uploadTexture(ptr noundef %201, ptr noundef nonnull %203, i32 noundef %204)
          to label %.critedge59 unwind label %188

.critedge59:                                      ; preds = %200
  store i32 -1, ptr %143, align 8, !tbaa !111
  br label %.thread63

205:                                              ; preds = %197
  br i1 %.not47.not, label %206, label %.thread63

.thread63:                                        ; preds = %.thread, %.critedge59, %205
  call void @_ZNSt3_V222condition_variable_any10notify_allEv(ptr noundef nonnull align 8 dereferenceable(64) %144) #12
  br label %206

206:                                              ; preds = %.thread63, %205
  %207 = load i8, ptr %0, align 8, !tbaa !78, !range !79, !noundef !80
  %208 = trunc nuw i8 %207 to i1
  br i1 %208, label %210, label %209

209:                                              ; preds = %206
  invoke void @_ZN6mujoco8Simulate4SyncEv(ptr noundef nonnull align 8 dereferenceable(10060044) %0)
          to label %218 unwind label %188

210:                                              ; preds = %206
  %211 = load ptr, ptr %16, align 8, !tbaa !77
  %212 = load ptr, ptr %146, align 8, !tbaa !112
  %213 = load ptr, ptr %14, align 8, !tbaa !9
  %214 = invoke i32 @mjv_updateSceneFromState(ptr noundef nonnull %145, ptr noundef %211, ptr noundef %212, ptr noundef %213, i32 noundef 7, ptr noundef nonnull %147)
          to label %215 unwind label %188

215:                                              ; preds = %210
  %216 = load i32, ptr %148, align 4, !tbaa !113
  %217 = add nsw i32 %216, %214
  store i32 %217, ptr %148, align 4, !tbaa !113
  br label %218

218:                                              ; preds = %209, %215
  call void @_ZNSt11unique_lockISt15recursive_mutexED2Ev(ptr noundef nonnull align 8 dereferenceable(9) %9) #12
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #12
  invoke void @_ZN6mujoco8Simulate6RenderEv(ptr noundef nonnull align 8 dereferenceable(10060044) %0)
          to label %219 unwind label %168

219:                                              ; preds = %218
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #12
  %220 = call i64 @_ZNSt6chrono3_V212steady_clock3nowEv() #12
  store i64 %220, ptr %10, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #12
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #12
  %221 = invoke i64 @_ZNSt6chronomiINS_3_V212steady_clockENS_8durationIlSt5ratioILl1ELl1000000000EEEES6_EENSt11common_typeIJT0_T1_EE4typeERKNS_10time_pointIT_S8_EERKNSC_ISD_S9_EE(ptr noundef nonnull align 8 dereferenceable(8) %10, ptr noundef nonnull align 8 dereferenceable(8) %97)
          to label %222 unwind label %234

222:                                              ; preds = %219
  store i64 %221, ptr %12, align 8
  invoke void @_ZNSt6chrono8durationIdSt5ratioILl1ELl1EEEC2IlS1_ILl1ELl1000000000EEvEERKNS0_IT_T0_EE(ptr noundef nonnull align 8 dereferenceable(8) %11, ptr noundef nonnull align 8 dereferenceable(8) %12)
          to label %223 unwind label %234

223:                                              ; preds = %222
  %224 = call noundef double @_ZNKSt6chrono8durationIdSt5ratioILl1ELl1EEE5countEv(ptr noundef nonnull align 8 dereferenceable(8) %11)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #12
  %225 = load i32, ptr %95, align 8, !tbaa !105
  %226 = add nsw i32 %225, 1
  store i32 %226, ptr %95, align 8, !tbaa !105
  %227 = fcmp ogt double %224, 2.000000e-01
  br i1 %227, label %228, label %236

228:                                              ; preds = %223
  %229 = load i64, ptr %10, align 8, !tbaa !106
  store i64 %229, ptr %97, align 8, !tbaa !106
  %230 = sitofp i32 %226 to double
  %231 = fdiv double %230, %224
  store double %231, ptr %149, align 8, !tbaa !115
  store i32 0, ptr %95, align 8, !tbaa !105
  br label %236

232:                                              ; preds = %188, %172
  %.pn = phi { ptr, i32 } [ %189, %188 ], [ %173, %172 ]
  call void @_ZNSt11unique_lockISt15recursive_mutexED2Ev(ptr noundef nonnull align 8 dereferenceable(9) %9) #12
  br label %233

233:                                              ; preds = %232, %170
  %.pn.pn = phi { ptr, i32 } [ %.pn, %232 ], [ %171, %170 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #12
  br label %248

234:                                              ; preds = %222, %219
  %235 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #12
  br label %248

236:                                              ; preds = %228, %223
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #12
  br label %155, !llvm.loop !116

.critedge:                                        ; preds = %162, %161
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #12
  invoke void @_ZNSt11unique_lockISt15recursive_mutexEC2ERS0_(ptr noundef nonnull align 8 dereferenceable(9) %13, ptr noundef nonnull align 8 dereferenceable(40) %138)
          to label %237 unwind label %242

237:                                              ; preds = %.critedge
  invoke void @mjv_freeScene(ptr noundef nonnull %147)
          to label %238 unwind label %244

238:                                              ; preds = %237
  %239 = load i8, ptr %0, align 8, !tbaa !78, !range !79, !noundef !80
  %240 = trunc nuw i8 %239 to i1
  br i1 %240, label %241, label %246

241:                                              ; preds = %238
  invoke void @mjv_freeSceneState(ptr noundef nonnull %145)
          to label %246 unwind label %244

242:                                              ; preds = %.critedge
  %243 = landingpad { ptr, i32 }
          cleanup
  br label %247

244:                                              ; preds = %241, %237
  %245 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt11unique_lockISt15recursive_mutexED2Ev(ptr noundef nonnull align 8 dereferenceable(9) %13) #12
  br label %247

246:                                              ; preds = %241, %238
  call void @_ZNSt13__atomic_baseIiE5storeEiSt12memory_order(ptr noundef nonnull align 4 dereferenceable(4) %137, i32 noundef 2, i32 noundef 5) #12
  call void @_ZNSt11unique_lockISt15recursive_mutexED2Ev(ptr noundef nonnull align 8 dereferenceable(9) %13) #12
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #12
  call void @_ZNSt10unique_ptrIA_hSt14default_deleteIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %8) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #12
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %7) #12
  call void @llvm.lifetime.end.p0(i64 512, ptr nonnull %7) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %2) #12
  ret void

247:                                              ; preds = %244, %242
  %.pn52 = phi { ptr, i32 } [ %245, %244 ], [ %243, %242 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #12
  br label %248

248:                                              ; preds = %168, %233, %234, %247, %132
  %.pn52.pn.pn = phi { ptr, i32 } [ %133, %132 ], [ %.pn52, %247 ], [ %169, %168 ], [ %.pn.pn, %233 ], [ %235, %234 ]
  call void @_ZNSt10unique_ptrIA_hSt14default_deleteIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %8) #12
  br label %249

249:                                              ; preds = %248, %130
  %.pn52.pn.pn.pn = phi { ptr, i32 } [ %.pn52.pn.pn, %248 ], [ %131, %130 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #12
  br label %250

250:                                              ; preds = %249, %128
  %.pn52.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn52.pn.pn.pn, %249 ], [ %129, %128 ]
  call void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248) %7) #12
  call void @llvm.lifetime.end.p0(i64 512, ptr nonnull %7) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %2) #12
  resume { ptr, i32 } %.pn52.pn.pn.pn.pn
}

; Function Attrs: mustprogress uwtable
declare hidden noundef double @_ZN12_GLOBAL__N_15TimerEv() #4

declare void @mjv_defaultCamera(ptr noundef) local_unnamed_addr #3

declare void @mjv_defaultOption(ptr noundef) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare hidden void @_ZN12_GLOBAL__N_118InitializeProfilerEPN6mujoco8SimulateE(ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare hidden void @_ZN12_GLOBAL__N_116InitializeSensorEPN6mujoco8SimulateE(ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare hidden noundef i32 @_ZN12_GLOBAL__N_116ComputeFontScaleERKN6mujoco17PlatformUIAdapterE(ptr noundef nonnull align 8 dereferenceable(2900)) local_unnamed_addr #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(2900) ptr @_ZNKSt10unique_ptrIN6mujoco17PlatformUIAdapterESt14default_deleteIS1_EEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3getILm0EiiEONSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOS4_(ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3getILm1EiiEONSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOS4_(ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #2

declare void @mjui_themeSpacing(ptr dead_on_unwind writable sret(%struct.mjuiThemeSpacing_) align 4, i32 noundef) local_unnamed_addr #3

declare void @mjui_themeColor(ptr dead_on_unwind writable sret(%struct.mjuiThemeColor_) align 4, i32 noundef) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare hidden noundef i32 @_ZN12_GLOBAL__N_111UiPredicateEiPv(i32 noundef, ptr noundef) #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN6mujoco17PlatformUIAdapter16SetEventCallbackEPFvP10mjuiState_E(ptr noundef nonnull align 8 dereferenceable(2900), ptr noundef) local_unnamed_addr #7 align 2

; Function Attrs: mustprogress uwtable
declare hidden void @_ZN12_GLOBAL__N_17UiEventEP10mjuiState_(ptr noundef) #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN6mujoco17PlatformUIAdapter17SetLayoutCallbackEPFvP10mjuiState_E(ptr noundef nonnull align 8 dereferenceable(2900), ptr noundef) local_unnamed_addr #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare hidden void @_ZN12_GLOBAL__N_18UiLayoutEP10mjuiState_(ptr noundef) #2

declare void @mjui_add(ptr noundef, ptr noundef) local_unnamed_addr #3

; Function Attrs: nounwind
declare i64 @_ZNSt6chrono3_V212steady_clock3nowEv() local_unnamed_addr #9

; Function Attrs: mustprogress uwtable
declare void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEEC1Ev(ptr noundef nonnull align 8 dereferenceable(248)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #10

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #10

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8), i32 noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEE4openEPKcSt13_Ios_Openmode(ptr noundef nonnull align 8 dereferenceable(248), ptr noundef, i32 noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare noundef zeroext i1 @_ZNSt14basic_ofstreamIcSt11char_traitsIcEE7is_openEv(ptr noundef nonnull align 8 dereferenceable(248)) local_unnamed_addr #2 align 2

; Function Attrs: noreturn nounwind
declare void @exit(i32 noundef) local_unnamed_addr #11

declare void @mjr_uploadHField(ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #3

declare void @mjr_uploadMesh(ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #3

declare void @mjr_uploadTexture(ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #3

declare i32 @mjv_updateSceneFromState(ptr noundef, ptr noundef, ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare dso_local i64 @_ZNSt6chronomiINS_3_V212steady_clockENS_8durationIlSt5ratioILl1ELl1000000000EEEES6_EENSt11common_typeIJT0_T1_EE4typeERKNS_10time_pointIT_S8_EERKNSC_ISD_S9_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6chrono8durationIdSt5ratioILl1ELl1EEEC2IlS1_ILl1ELl1000000000EEvEERKNS0_IT_T0_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef double @_ZNKSt6chrono8durationIdSt5ratioILl1ELl1EEE5countEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

declare void @mjv_freeScene(ptr noundef) local_unnamed_addr #3

declare void @mjv_freeSceneState(ptr noundef) local_unnamed_addr #3

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local void @_ZNSt13__atomic_baseIiE5storeEiSt12memory_order(ptr noundef nonnull align 4 dereferenceable(4), i32 noundef, i32 noundef) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt14basic_ofstreamIcSt11char_traitsIcEED1Ev(ptr noundef nonnull align 8 dereferenceable(248)) unnamed_addr #2 align 2

attributes #0 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #1 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 #3 = { "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 = { 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 #5 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #6 = { alwaysinline 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 = { 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 #8 = { nobuiltin allocsize(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 #9 = { nounwind "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 #10 = { 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 #11 = { noreturn nounwind "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 #12 = { nounwind }
attributes #13 = { builtin allocsize(0) }
attributes #14 = { noreturn 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 26488}
!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 26496}
!78 = !{!10, !11, i64 0}
!79 = !{i8 0, i8 2}
!80 = !{}
!81 = !{!82, !82, i64 0}
!82 = !{!"vtable pointer", !8, i64 0}
!83 = !{!7, !7, i64 0}
!84 = !{!10, !12, i64 13200}
!85 = !{!10, !6, i64 4091304}
!86 = !{!52, !12, i64 0}
!87 = !{!12, !12, i64 0}
!88 = !{!89, !12, i64 8}
!89 = !{!"_ZTS8mjrRect_", !12, i64 0, !12, i64 4, !12, i64 8, !12, i64 12}
!90 = !{!89, !12, i64 12}
!91 = !{!10, !12, i64 13192}
!92 = !{i64 0, i64 4, !87, i64 4, i64 4, !87, i64 8, i64 4, !87, i64 12, i64 4, !87, i64 16, i64 4, !87, i64 20, i64 4, !87, i64 24, i64 4, !87, i64 28, i64 4, !87, i64 32, i64 4, !87, i64 36, i64 4, !87, i64 40, i64 4, !87}
!93 = !{!10, !12, i64 13196}
!94 = !{i64 0, i64 12, !83, i64 12, i64 12, !83, i64 24, i64 12, !83, i64 36, i64 12, !83, i64 48, i64 12, !83, i64 60, i64 12, !83, i64 72, i64 12, !83, i64 84, i64 12, !83, i64 96, i64 12, !83, i64 108, i64 12, !83, i64 120, i64 12, !83, i64 132, i64 12, !83, i64 144, i64 12, !83, i64 156, i64 12, !83, i64 168, i64 12, !83, i64 180, i64 12, !83, i64 192, i64 12, !83, i64 204, i64 12, !83, i64 216, i64 12, !83, i64 228, i64 12, !83, i64 240, i64 12, !83}
!95 = !{!10, !6, i64 4091608}
!96 = !{!10, !12, i64 4091624}
!97 = !{!10, !12, i64 4091628}
!98 = !{!10, !6, i64 7069176}
!99 = !{!10, !12, i64 7069192}
!100 = !{!10, !12, i64 7069196}
!101 = !{!52, !6, i64 408}
!102 = !{!10, !6, i64 4091616}
!103 = !{!10, !6, i64 7069184}
!104 = !{!10, !12, i64 13236}
!105 = !{!10, !12, i64 13168}
!106 = !{!64, !64, i64 0}
!107 = !{!10, !12, i64 13272}
!108 = !{!10, !12, i64 10060040}
!109 = !{!10, !6, i64 24}
!110 = !{!10, !12, i64 10060036}
!111 = !{!10, !12, i64 10060032}
!112 = !{!10, !6, i64 26504}
!113 = !{!114, !12, i64 4}
!114 = !{!"_ZTS14mjWarningStat_", !12, i64 0, !12, i64 4}
!115 = !{!10, !34, i64 13184}
!116 = distinct !{!116, !117}
!117 = !{!"llvm.loop.mustprogress"}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,InferAlignmentPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LICMPass,LoopSimplifyPass,MemCpyOptPass,ReassociatePass,SROAPass,SimplifyCFGPass,TailCallElimPass