Configure Copybara export for Dear ImGui and ImPlot Python bindings

Following the export declarations in Dear ImGui and ImPlot METADATA, this change updates MuJoCo's Copybara configuration (copy.bara.sky) to export and transform the Python bindings. `//third_party/dear_imgui/google/py` exports to `python/mujoco/experimental/dear_imgui` and `//third_party/implot/google/py` exports to `python/mujoco/experimental/implot`. PiperOrigin-RevId: 925293624 Change-Id: Ie6e32d247a6f7fc24bb36ae7060f2075d8efeb26
2026-06-02 05:31:48 -07:00
parent 062b0f1ea6
commit 4cf4a5665d
16 changed files with 4572 additions and 0 deletions
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+// Copyright 2026 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     https://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// Python bindings for MuJoCo platform simulation components.
+
+#include <mujoco/mujoco.h>
+#include "third_party/mujoco/src/experimental/platform/sim/step_control.h"
+#include "structs.h"
+#include <pybind11/pybind11.h>
+
+namespace py = pybind11;
+
+using StepControl = mujoco::platform::StepControl;
+
+PYBIND11_MODULE(sim, m) {
+  m.doc() = "MuJoCo platform simulation bindings for Link.";
+
+  py::enum_<StepControl::Status>(m, "StepStatus")
+      .value("OK", StepControl::Status::kOk)
+      .value("PAUSED", StepControl::Status::kPaused)
+      .value("VISCOUS_PAUSED", StepControl::Status::kViscousPaused)
+      .value("AUTO_RESET", StepControl::Status::kAutoReset)
+      .value("DIVERGED", StepControl::Status::kDiverged);
+
+  py::enum_<StepControl::PauseState>(m, "PauseState")
+      .value("UNPAUSED", StepControl::PauseState::kUnpaused)
+      .value("NORMAL_PAUSED", StepControl::PauseState::kNormalPaused)
+      .value("VISCOUS_PAUSED", StepControl::PauseState::kViscousPaused);
+
+  py::class_<StepControl>(m, "StepControl")
+      .def(py::init<>())
+      .def(
+          "advance",
+          [](StepControl& self, mujoco::python::MjModelWrapper& model,
+             mujoco::python::MjDataWrapper& data) {
+            return self.Advance(model.get(), data.get());
+          },
+          py::arg("model"), py::arg("data"),
+          "Step physics forward, respecting speed settings and refresh budget.")
+      .def("force_sync", &StepControl::ForceSync,
+           "Ensures the next Advance() will synchronize time and step once.")
+      .def("get_speed", &StepControl::GetSpeed,
+           "Returns the desired simulation speed as a percentage of real time.")
+      .def("get_speed_measured", &StepControl::GetSpeedMeasured,
+           "Returns the measured simulation speed.")
+      .def("set_speed", &StepControl::SetSpeed, py::arg("speed"),
+           "Sets the desired speed (clamped to [0.1%, 100%]).")
+      .def("set_pause_state", &StepControl::SetPauseState, py::arg("state"),
+           "Sets the pause state of the simulation.")
+      .def("get_pause_state", &StepControl::GetPauseState,
+           "Returns the current pause state.")
+      .def("request_single_step", &StepControl::RequestSingleStep,
+           "Request a single step if paused.");
+}