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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_objects.cc
+16 -16
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@@ -959,7 +959,7 @@ void mjCBody::CopyFromSpec() {
*static_cast<mjsBody*>(this) = spec;
userdata_ = spec_userdata_;
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;
}
@@ -986,7 +986,7 @@ mjCBody::~mjCBody() {
lights.clear();
if (spec.plugin.active && spec.plugin.instance_name->empty()) {
model->DeleteElement(spec.plugin.instance);
model->DeleteElement(spec.plugin.element);
}
}
@@ -1669,9 +1669,9 @@ void mjCBody::Compile(void) {
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_PASSIVE)) {
throw mjCError(this, "plugin '%s' does not support passive forces", pplugin->name);
@@ -2132,7 +2132,7 @@ mjCGeom::mjCGeom(const mjCGeom& other) {
mjCGeom::~mjCGeom() {
if (spec.plugin.active && spec.plugin.instance_name->empty()) {
model->DeleteElement(spec.plugin.instance);
model->DeleteElement(spec.plugin.element);
}
}
@@ -2176,7 +2176,7 @@ void mjCGeom::CopyFromSpec() {
meshname_ = spec_meshname_;
material_ = spec_material_;
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;
}
@@ -2913,9 +2913,9 @@ void mjCGeom::Compile(void) {
this, "neither 'plugin' nor 'instance' is specified for geom");
}
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 sign distance fields", pplugin->name);
@@ -5554,7 +5554,7 @@ mjCActuator::mjCActuator(const mjCActuator& other) {
mjCActuator::~mjCActuator() {
if (spec.plugin.active && spec.plugin.instance_name->empty()) {
model->DeleteElement(spec.plugin.instance);
model->DeleteElement(spec.plugin.element);
}
}
@@ -5640,7 +5640,7 @@ void mjCActuator::CopyFromSpec() {
refsite_ = spec_refsite_;
slidersite_ = spec_slidersite_;
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;
}
@@ -5869,9 +5869,9 @@ void mjCActuator::Compile(void) {
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_ACTUATOR)) {
throw mjCError(this, "plugin '%s' does not support actuators", pplugin->name);
@@ -5916,7 +5916,7 @@ mjCSensor::mjCSensor(const mjCSensor& other) {
mjCSensor::~mjCSensor() {
if (spec.plugin.active && spec.plugin.instance_name->empty()) {
model->DeleteElement(spec.plugin.instance);
model->DeleteElement(spec.plugin.element);
}
}
@@ -5968,7 +5968,7 @@ void mjCSensor::CopyFromSpec() {
objname_ = spec_objname_;
refname_ = spec_refname_;
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;
}
@@ -6373,9 +6373,9 @@ void mjCSensor::Compile(void) {
// resolve plugin instance, or create one if using the "plugin" attribute shortcut
{
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_SENSOR)) {
throw mjCError(this, "plugin '%s' does not support sensors", pplugin->name);