Implementation:Google deepmind Mujoco Platform Plugin Header

Knowledge Sources	Google_deepmind_Mujoco
Domains	Plugin System, API Declaration
Last Updated	2026-02-15 04:00 GMT

Overview

Declares the plugin interface for extending MuJoCo Studio with custom GUI windows and model-processing callbacks.

Description

plugin.h defines two plugin structs: GuiPlugin for custom ImGui windows and ModelPlugin for model lifecycle hooks. GuiPlugin provides an update callback invoked when the plugin's window is active, along with a name, active state, and optional data pointer. ModelPlugin provides three callbacks: get_model_to_load (returns a model buffer to load), post_model_loaded (notified after loading), and do_update (called each simulation step, returning whether to step). Both structs are final and copied by value -- they must not be subclassed. Registration functions (RegisterGuiPlugin, RegisterModelPlugin) add plugins to a global registry with case-insensitive unique names.

Usage

Included by plugin implementations that want to extend Studio's functionality. Plugins register themselves at process startup and are invoked by the Studio main loop during GUI building and simulation stepping.

Code Reference

Source Location

• Repository: Google_deepmind_Mujoco
• File: src/experimental/platform/plugin.h
• Lines: 1-94

Key Functions

struct GuiPlugin final {
  using UpdateFn = void (*)(GuiPlugin* self);
  bool active; const char* name; UpdateFn update; void* data;
};
struct ModelPlugin final {
  using GetModelToLoadFn = const char* (*)(ModelPlugin* self, int* size, char* content_type, int content_type_size, char* model_name, int model_name_size);
  using PostModelLoadedFn = void (*)(ModelPlugin* self, const char* model_path);
  using DoUpdateFn = bool (*)(ModelPlugin* self, mjModel* model, mjData* data);
};
void RegisterGuiPlugin(const GuiPlugin* plugin);
void RegisterModelPlugin(const ModelPlugin* plugin);

Import

#include "experimental/platform/plugin.h"

I/O Contract

Inputs

Name	Type	Required	Description
plugin	const GuiPlugin* or const ModelPlugin*	Yes	Plugin struct to register with global registry

Outputs

Name	Type	Description
Registration	void	Plugin is added to the global registry and invoked by Studio

Related Pages

• Environment:Google_deepmind_Mujoco_C_Build_Environment