Hi! Are there any ways to run simulations in HAPTIX with mj_step in a stepwise manner, like with MuJoCo Pro? If not, is it possible to run the MPL model in MuJoCo Pro? Would there be any performance differences? And lastly, would it be possible to enhance the logger for HAPTIX with other information, like forces as reported by the "native API"?
The HAPTIX API exposes the mj_step function. You can run the MPL model in Pro. It will be faster, because HAPTIX is limited to real-time simulation. HAPTIX will be kept up to date with new versions of the simulator, but apart from that there is no plan to add new features that are specific to HAPTIX. Development is now focused on Pro.