This change adds py::gil_scoped_release to various functions in the parser, renderer, sim and ux modules of the MuJoCo Studio Python bindings. This allows other Python threads to execute while these C++ functions, which can sometimes be time-consuming, are running. The two heaviest operations Present() (rendering) and Advance() (physics) now both release the GIL in C++.
PiperOrigin-RevId: 930645361
Change-Id: Ib239fb54edc7ac0d8b1d94bec8c57a447d5f4d27
The StepControl::Advance method now accepts an optional std::function to be used instead of mj_step. This allows for custom simulation logic to be executed within the stepping loop. The Python bindings for StepControl::advance have been updated to support passing a Python callable as the custom step function.
PiperOrigin-RevId: 925393132
Change-Id: Id2820c4b55cbdfee6b01adc2395e99a990d4e7a3
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
Matija Kecman