chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Avoid changing semantics of mjsPlugin.name across XML sections.

Browse Source 
The `extension` section used to discard the plugin name and write the instance name in `plugin.name`, while all of the other sections wrote the instance name in `plugin.instance_name` and optionally the plugin name in `plugin.name` (via the function `OnePlugin`). Now all plugin names are in `plugin.plugin_name` and the instance is written in `plugin.name`, so that it is possible to lookup a plugin via its unique instance name.

PiperOrigin-RevId: 683183804
Change-Id: I179ef5d221143b720db24d745b09e327bf1449ef
This commit is contained in:
Alessio Quaglino
2024-10-07 07:56:17 -07:00
committed by Copybara-Service
parent 5bfc7da7de
commit 66faba9aa5
14 changed files with 53 additions and 62 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/user/user_api_test.cc
+2 -2
View File
@@ -170,7 +170,7 @@ TEST_F(PluginTest, ActivatePlugin) {
// associate plugin to body
mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), 0);
mjs_setString(body->plugin.name, "mujoco.elasticity.cable");
mjs_setString(body->plugin.plugin_name, "mujoco.elasticity.cable");
body->plugin.element = mjs_addPlugin(spec)->element;
body->plugin.active = true;
mjsGeom* geom = mjs_addGeom(body, 0);
@@ -204,7 +204,7 @@ TEST_F(PluginTest, DeletePlugin) {
// add actuator
mjsActuator* actuator = mjs_addActuator(spec, 0);
mjs_setString(actuator->target, "j1");
mjs_setString(actuator->plugin.name, "mujoco.pid");
mjs_setString(actuator->plugin.plugin_name, "mujoco.pid");
actuator->plugin.element = mjs_addPlugin(spec)->element;
actuator->plugin.active = true;
actuator->trntype = mjTRN_JOINT;