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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_mesh.cc
+6 -6
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@@ -246,7 +246,7 @@ void mjCMesh::CopyFromSpec() {
facetexcoord_ = spec_facetexcoord_;
maxhullvert_ = spec.maxhullvert;
plugin.active = spec.plugin.active;
plugin.instance = spec.plugin.instance;
plugin.element = spec.plugin.element;
plugin.name = spec.plugin.name;
plugin.instance_name = spec.plugin.instance_name;
@@ -270,7 +270,7 @@ mjCMesh::~mjCMesh() {
if (center_) mju_free(center_);
if (graph_) mju_free(graph_);
if (spec.plugin.active && spec.plugin.instance_name->empty()) {
model->DeleteElement(spec.plugin.instance);
model->DeleteElement(spec.plugin.element);
}
}
@@ -289,9 +289,9 @@ void mjCMesh::LoadSDF() {
name.c_str(), id);
}
mjCPlugin* plugin_instance = static_cast<mjCPlugin*>(plugin.instance);
mjCPlugin* plugin_instance = static_cast<mjCPlugin*>(plugin.element);
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
plugin.instance = plugin_instance;
plugin.element = plugin_instance;
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->spec.plugin_slot);
if (!(pplugin->capabilityflags & mjPLUGIN_SDF)) {
throw mjCError(this, "plugin '%s' does not support signed distance fields", pplugin->name);
@@ -2919,9 +2919,9 @@ void mjCFlex::Compile(const mjVFS* vfs) {
useredge = VectorToString(edgeidx_);
for (const auto& vbodyid : vertbodyid) {
if (model->Bodies()[vbodyid]->plugin.instance) {
if (model->Bodies()[vbodyid]->plugin.element) {
mjCPlugin* plugin_instance =
static_cast<mjCPlugin*>(model->Bodies()[vbodyid]->plugin.instance);
static_cast<mjCPlugin*>(model->Bodies()[vbodyid]->plugin.element);
if (damping > 0) {
plugin_instance->config_attribs["damping"] = std::to_string(damping);
}