Introduce new logging API, fixes #858

PiperOrigin-RevId: 930744288 Change-Id: I6ec1203b55c031390f3eef23192e2337508ce886
2026-06-11 14:36:17 -07:00
parent a2abaf7aef
commit 58f6d52491
45 changed files with 2586 additions and 422 deletions
@@ -149,6 +149,7 @@ _SKIPPED_MEMORY_FUNCTIONS: tuple[str, ...] = (
    "mju_error",
    "mju_free",
    "mju_malloc",
+    "mju_setLogHandler",
    "mju_strncpy",
    "mju_warning",
    # go/keep-sorted end
@@ -230,6 +231,7 @@ MANUAL_WRAPPER_FUNCTIONS: tuple[str, ...] = (
    "mj_saveModel",
    "mj_setLengthRange",
    "mju_error",
+    "mju_info",
    # go/keep-sorted end
 )

@@ -276,6 +278,8 @@ STRUCTS_TO_BIND: list[str] = list(
 NO_DEFAULT_CONSTRUCTORS: tuple[str, ...] = (
    # go/keep-sorted start
    "mjContact",
+    "mjLogConfig",
+    "mjLogMessage",
    "mjPreContact",
    "mjSolverStat",
    "mjStatistic",