Your a is what combinatorists call a multiset. The sympy library has various routines for working with them.
>>> from sympy.utilities.iterables import multiset_permutations
>>> import numpy as np
>>> a = np.array([0, 1, 0, 2])
>>> for p in multiset_permutations(a):
... p
...
[0, 0, 1, 2]
[0, 0, 2, 1]
[0, 1, 0, 2]
[0, 1, 2, 0]
[0, 2, 0, 1]
[0, 2, 1, 0]
[1, 0, 0, 2]
[1, 0, 2, 0]
[1, 2, 0, 0]
[2, 0, 0, 1]
[2, 0, 1, 0]
[2, 1, 0, 0]
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