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Add plugins list to mjSpec Python API.

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Fixes #2061.

PiperOrigin-RevId: 677762985
Change-Id: I8e407373e7b505d9b0f1c023e97c5ea92169bbf6
This commit is contained in:
Alessio Quaglino
2024-09-23 06:12:42 -07:00
committed by Copybara-Service
parent 91cedfd65c
commit 0ba11b9623
18 changed files with 127 additions and 44 deletions
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src/user/user_flexcomp.cc
+3 -3
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@@ -422,7 +422,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
// overwrite plugin name
if (plugin.active && plugin_instance_name.empty()) {
plugin_instance_name = "flexcomp_" + name;
static_cast<mjCPlugin*>(plugin.instance)->name = plugin_instance_name;
static_cast<mjCPlugin*>(plugin.element)->name = plugin_instance_name;
}
// create bodies, construct flex vert and vertbody
@@ -440,7 +440,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
if (plugin.active) {
mjsPlugin* pplugin = &body->plugin;
pplugin->active = true;
pplugin->instance = static_cast<mjsElement*>(plugin.instance);
pplugin->element = static_cast<mjsElement*>(plugin.element);
mjs_setString(pplugin->name, mjs_getString(plugin.name));
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
}
@@ -504,7 +504,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
if (plugin.active) {
mjsPlugin* pplugin = &pb->plugin;
pplugin->active = true;
pplugin->instance = static_cast<mjsElement*>(plugin.instance);
pplugin->element = static_cast<mjsElement*>(plugin.element);
mjs_setString(pplugin->name, mjs_getString(plugin.name));
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
}