Set MuJoCo warning and error callback

Author: juan-g-bonilla

src/simulation/mujocoDynamics/_GeneralModuleFiles/MJScene.cpp

@@ -38,6 +38,10 @@ MJScene::MJScene(std::string xml, const std::vector<std::string>& files)
 {
     this->AddFwdKinematicsToDynamicsTask(MJScene::FWD_KINEMATICS_PRIORITY);
     this->integrator = new svIntegratorRK4(this);
+
+    // Replace default MuJoCo error/warning handling with our own
+    mju_user_error = MJBasilisk::detail::logMujocoError;
+    mju_user_warning = MJBasilisk::detail::logMujocoWarning;
 }
 
 MJScene MJScene::fromFile(const std::string& fileName)

src/simulation/mujocoDynamics/_GeneralModuleFiles/MJUtils.cpp

@@ -19,6 +19,20 @@
 
 #include "MJUtils.h"
 
+using namespace std::string_literals;
+
 namespace MJBasilisk::detail
 {
+void
+logMujocoError(const char* err)
+{
+    logAndThrow<std::runtime_error>("MuJoCo internal error: "s + err);
+}
+
+void
+logMujocoWarning(const char* err)
+{
+    BSKLogger{}.bskLog(BSK_WARNING, ("MuJoCo internal warning: "s + err).c_str());
+}
+
 } // namespace MJBasilisk::detail

src/simulation/mujocoDynamics/_GeneralModuleFiles/MJUtils.h

@@ -64,6 +64,18 @@ template <typename T = std::invalid_argument>
     throw T(error);
 }
 
+/** Calls ``logAndThrow<std::runtime_error>`` with the given input
+ *
+ * Meant to be used as an error callback for MuJoCo's ``mju_user_error``.
+*/
+void logMujocoError(const char* err);
+
+/** Calls ``logAndThrow<std::runtime_error>`` with the given input
+ *
+ * Meant to be used as an error callback for MuJoCo's ``mju_user_error``.
+*/
+void logMujocoWarning(const char* err);
+
 } // namespace MJBasilisk::detail
 
 #endif