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Remove custom step_fn for StepControl::Advance.

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PiperOrigin-RevId: 936609234
Change-Id: I606cf4d71d856cbd260900d63b22c719974c977d
This commit is contained in:
Haroon Qureshi
2026-06-23 05:48:45 -07:00
committed by Copybara-Service
parent 027cfd1201
commit 5cef2472d5
3 changed files with 7 additions and 21 deletions
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python/mujoco/experimental/studio/sim.cc
+4 -13
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@@ -43,22 +43,13 @@ PYBIND11_MODULE(sim, m) {
.def(py::init<>())
.def(
"advance",
[](StepControl& self, py::object model_obj, py::object data_obj,
py::object step_fn) {
[](StepControl& self, py::object model_obj, py::object data_obj) {
auto& model = py::cast<mujoco::python::MjModelWrapper&>(model_obj);
auto& data = py::cast<mujoco::python::MjDataWrapper&>(data_obj);
if (step_fn.is_none()) {
py::gil_scoped_release no_gil;
return self.Advance(model.get(), data.get());
} else {
return self.Advance(
model.get(), data.get(),
[step_fn, model_obj, data_obj](mjModel*, mjData*) {
step_fn(model_obj, data_obj);
});
}
py::gil_scoped_release no_gil;
return self.Advance(model.get(), data.get());
},
py::arg("model"), py::arg("data"), py::arg("step_fn") = py::none(),
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.")