Introduce new logging API, fixes #858

PiperOrigin-RevId: 930744288
Change-Id: I6ec1203b55c031390f3eef23192e2337508ce886

python/mujoco/codegen/generate_cs_bindings.py

@@ -192,6 +192,7 @@ _ALLOWED_FIXED_ARRAYS = {
 
 _FUNCTION_POINTER_TYPES = {
     'mjfItemEnable',
+    'mjfLogHandler',
 }
 
 _STRUCT_NAME_OVERRIDES = {}

python/mujoco/codegen/generate_function_traits.py

@@ -37,10 +37,8 @@ def main(argv: Sequence[str]) -> None:
 
   struct_decls = []
   for func in FUNCTIONS.values():
-    # Skip mju_error_{i,s} and mju_warning_{i,s} as these are not
-    # supported in the Python bindings, and Introspect currently
-    # doesn't support variadic functions.
-    if func.name.startswith('mju_error') or func.name == 'mju_warning':
+    # Skip variadic functions as Introspect currently doesn't support them.
+    if func.name in ('mju_error', 'mju_warning', 'mju_info'):
       continue
 
     # Modify some parameter types.