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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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test/user/user_api_test.cc
+2 -2
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@@ -147,7 +147,7 @@ TEST_F(PluginTest, ActivatePlugin) {
// associate plugin to body
mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), 0);
mjs_setString(body->plugin.name, plugin_name.c_str());
body->plugin.instance = mjs_addPlugin(spec)->instance;
body->plugin.element = mjs_addPlugin(spec)->element;
body->plugin.active = true;
mjsGeom* geom = mjs_addGeom(body, 0);
geom->type = mjGEOM_BOX;
@@ -191,7 +191,7 @@ TEST_F(PluginTest, DeletePlugin) {
mjsActuator* actuator = mjs_addActuator(spec, 0);
mjs_setString(actuator->target, "j1");
mjs_setString(actuator->plugin.name, plugin_name.c_str());
actuator->plugin.instance = mjs_addPlugin(spec)->instance;
actuator->plugin.element = mjs_addPlugin(spec)->element;
actuator->plugin.active = true;
actuator->trntype = mjTRN_JOINT;