From 2ebc5f097b1a5fbbe276250ad1d13966510d1291 Mon Sep 17 00:00:00 2001
From: Saran Tunyasuvunakool <stunya@google.com>
Date: Wed, 16 Nov 2022 12:39:52 -0800
Subject: [PATCH] Change `simulate` plugin directory name to `mujoco_plugin`.

This helps distro packagers avoid having to create a directory with the generic `plugin` name in system locations.

Context: https://github.com/deepmind/mujoco/issues/552
PiperOrigin-RevId: 489011386
Change-Id: Ie9f1748cbb4f2b9dc8c328064caaeb50c88fdec3
---
 .github/workflows/build.yml | 10 +++++-----
 doc/changelog.rst           |  6 ++++++
 simulate/main.cc            |  4 +++-
 3 files changed, 14 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index f3b61346..d261c110 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -149,13 +149,13 @@ jobs:
     - name: Copy plugins (POSIX)
       if: ${{ runner.os != 'Windows' }}
       working-directory: build
-      run: mkdir -p ${{ matrix.tmpdir }}/mujoco_install/plugin &&
-           cp lib/libelasticity.* ${{ matrix.tmpdir }}/mujoco_install/plugin
+      run: mkdir -p ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
+           cp lib/libelasticity.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin
     - name: Copy plugins (Windows)
       if: ${{ runner.os == 'Windows' }}
       working-directory: build
-      run: mkdir -p ${{ matrix.tmpdir }}/mujoco_install/plugin &&
-           cp bin/Release/elasticity.dll ${{ matrix.tmpdir }}/mujoco_install/plugin
+      run: mkdir -p ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
+           cp bin/Release/elasticity.dll ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin
     - name: Configure samples
       working-directory: sample
       run: >
@@ -193,7 +193,7 @@ jobs:
       run: >
         source ${{ matrix.tmpdir }}/venv/bin/activate &&
         MUJOCO_PATH="${{ matrix.tmpdir }}/mujoco_install"
-        MUJOCO_PLUGIN_PATH="${{ matrix.tmpdir }}/mujoco_install/plugin"
+        MUJOCO_PLUGIN_PATH="${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin"
         MUJOCO_CMAKE_ARGS="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF ${{ matrix.cmake_args }}"
         pip wheel -v --no-deps mujoco-*.tar.gz
     - name: Install Python bindings
diff --git a/doc/changelog.rst b/doc/changelog.rst
index a975b320..0c2bfddd 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -51,6 +51,12 @@ General
   - 50% faster ``mju_dotSparse`` using manual loop unroll. See `engine_util_sparse_benchmark_test
     <https://github.com/deepmind/mujoco/tree/main/test/benchmark/engine_util_sparse_benchmark_test.cc>`_.
 
+Simulate
+^^^^^^^^
+
+- Renamed the directory in which the ``simulate`` application searches for plugins from ``plugin`` to ``mujoco_plugin``.
+
+
 Version 2.3.0 (October 18, 2022)
 --------------------------------
 
diff --git a/simulate/main.cc b/simulate/main.cc
index 6b908bc1..1d4e5f52 100644
--- a/simulate/main.cc
+++ b/simulate/main.cc
@@ -30,6 +30,8 @@
 #include "simulate.h"
 #include "array_safety.h"
 
+#define MUJOCO_PLUGIN_DIR "mujoco_plugin"
+
 extern "C" {
 #if defined(_WIN32) || defined(__CYGWIN__)
   #include <windows.h>
@@ -224,7 +226,7 @@ std::vector<unique_dlhandle> scanPluginLibraries() {
     return dso_handles;
   }
 
-  const std::string plugin_dir = getExecutableDir() + sep + "plugin";
+  const std::string plugin_dir = getExecutableDir() + sep + MUJOCO_PLUGIN_DIR;
 
 #if defined(_WIN32) || defined(__CYGWIN__)
   WIN32_FIND_DATAA find_data;