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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_model.cc
+6 -4
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@@ -938,6 +938,8 @@ mjsElement* mjCModel::NextObject(mjsElement* object, mjtObj type) {
return GetNext(textures_, object);
case mjOBJ_MATERIAL:
return GetNext(materials_, object);
case mjOBJ_PLUGIN:
return GetNext(plugins_, object);
default:
return nullptr;
}
@@ -3932,7 +3934,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
std::vector<std::vector<int>> plugin_to_actuators(nplugin);
for (int i = 0; i < nu; ++i) {
if (actuators_[i]->plugin.active) {
int actuator_plugin = static_cast<mjCPlugin*>(actuators_[i]->plugin.instance)->id;
int actuator_plugin = static_cast<mjCPlugin*>(actuators_[i]->plugin.element)->id;
m->actuator_plugin[i] = actuator_plugin;
plugin_to_actuators[actuator_plugin].push_back(i);
} else {
@@ -3942,7 +3944,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
for (int i = 0; i < nbody; ++i) {
if (bodies_[i]->plugin.active) {
m->body_plugin[i] = static_cast<mjCPlugin*>(bodies_[i]->plugin.instance)->id;
m->body_plugin[i] = static_cast<mjCPlugin*>(bodies_[i]->plugin.element)->id;
} else {
m->body_plugin[i] = -1;
}
@@ -3950,7 +3952,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
for (int i = 0; i < ngeom; ++i) {
if (geoms_[i]->plugin.active) {
m->geom_plugin[i] = static_cast<mjCPlugin*>(geoms_[i]->plugin.instance)->id;
m->geom_plugin[i] = static_cast<mjCPlugin*>(geoms_[i]->plugin.element)->id;
} else {
m->geom_plugin[i] = -1;
}
@@ -3959,7 +3961,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
std::vector<std::vector<int>> plugin_to_sensors(nplugin);
for (int i = 0; i < nsensor; ++i) {
if (sensors_[i]->type == mjSENS_PLUGIN) {
int sensor_plugin = static_cast<mjCPlugin*>(sensors_[i]->plugin.instance)->id;
int sensor_plugin = static_cast<mjCPlugin*>(sensors_[i]->plugin.element)->id;
m->sensor_plugin[i] = sensor_plugin;
plugin_to_sensors[sensor_plugin].push_back(i);
} else {