Replace mjs_setActivePlugins with mjs_activatePlugin.

PiperOrigin-RevId: 680613007
Change-Id: Ic03e0dc42a1f5f083e313672bc6e3ccebadc58b3

doc/APIreference/functions.rst

@@ -1509,6 +1509,15 @@ mj_deleteSpec
 
 Free memory allocation in mjSpec.
 
+.. _mjs_activatePlugin:
+
+mjs_activatePlugin
+~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_activatePlugin
+
+Activate plugin, return slot number.
+
 .. _Errorandmemory:
 
 Error and memory
@@ -4354,15 +4363,6 @@ Get double array contents and optionally its size.
 
 Spec utilities
 ^^^^^^^^^^^^^^
-.. _mjs_setActivePlugins:
-
-mjs_setActivePlugins
-~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setActivePlugins
-
-Set active plugins.
-
 .. _mjs_setDefault:
 
 mjs_setDefault

doc/changelog.rst

@@ -12,6 +12,7 @@ General
   example model <https://github.com/google-deepmind/mujoco/blob/main/model/flex/floppy.xml>`__ and `2D example model
   <https://github.com/google-deepmind/mujoco/blob/main/src/model/trampoline.xml>`__ for examples of flex objects
   that previously required these plugins.
+- Replaced the function ``mjs_setActivePlugins`` with :ref:`mjs_activatePlugin`.
 
 Bug fixes
 ^^^^^^^^^

doc/includes/references.h

@@ -3171,6 +3171,7 @@ int mj_setLengthRange(mjModel* m, mjData* d, int index,
 mjSpec* mj_makeSpec(void);
 mjSpec* mj_copySpec(const mjSpec* s);
 void mj_deleteSpec(mjSpec* s);
+int mjs_activatePlugin(mjSpec* s, const char* name);
 void mj_printFormattedModel(const mjModel* m, const char* filename, const char* float_format);
 void mj_printModel(const mjModel* m, const char* filename);
 void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
@@ -3614,7 +3615,6 @@ void mjs_setDouble(mjDoubleVec* dest, const double* array, int size);
 void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
 const char* mjs_getString(const mjString* source);
 const double* mjs_getDouble(const mjDoubleVec* source, int* size);
-void mjs_setActivePlugins(mjSpec* s, void* activeplugins);
 void mjs_setDefault(mjsElement* element, mjsDefault* def);
 void mjs_setFrame(mjsElement* dest, mjsFrame* frame);
 const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,

include/mujoco/mujoco.h

@@ -241,6 +241,9 @@ MJAPI mjSpec* mj_copySpec(const mjSpec* s);
 // Free memory allocation in mjSpec.
 MJAPI void mj_deleteSpec(mjSpec* s);
 
+// Activate plugin, return slot number.
+MJAPI int mjs_activatePlugin(mjSpec* s, const char* name);
+
 
 //---------------------------------- Printing ------------------------------------------------------
 
@@ -1607,9 +1610,6 @@ MJAPI const double* mjs_getDouble(const mjDoubleVec* source, int* size);
 
 //---------------------------------- Spec utilities ------------------------------------------------
 
-// Set active plugins.
-MJAPI void mjs_setActivePlugins(mjSpec* s, void* activeplugins);
-
 // Set element's default.
 MJAPI void mjs_setDefault(mjsElement* element, mjsDefault* def);
 

introspect/functions.py

@@ -1045,6 +1045,26 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Free memory allocation in mjSpec.',
      )),
+    ('mjs_activatePlugin',
+     FunctionDecl(
+         name='mjs_activatePlugin',
+         return_type=ValueType(name='int'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='s',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjSpec'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='name',
+                 type=PointerType(
+                     inner_type=ValueType(name='char', is_const=True),
+                 ),
+             ),
+         ),
+         doc='Activate plugin, return slot number.',
+     )),
     ('mj_printFormattedModel',
      FunctionDecl(
          name='mj_printFormattedModel',
@@ -10192,26 +10212,6 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Get double array contents and optionally its size.',
      )),
-    ('mjs_setActivePlugins',
-     FunctionDecl(
-         name='mjs_setActivePlugins',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='activeplugins',
-                 type=PointerType(
-                     inner_type=ValueType(name='void'),
-                 ),
-             ),
-         ),
-         doc='Set active plugins.',
-     )),
     ('mjs_setDefault',
      FunctionDecl(
          name='mjs_setDefault',

src/user/user_api.cc

@@ -205,6 +205,21 @@ void mjs_addSpec(mjSpec* s, mjSpec* child) {
 
 
 
+// activate plugin
+int mjs_activatePlugin(mjSpec* s, const char* name) {
+  int plugin_slot = -1;
+  const mjpPlugin* plugin = mjp_getPlugin(name, &plugin_slot);
+  if (!plugin) {
+    mju_error("unknown plugin '%s'", name);
+    return -1;
+  }
+  mjCModel* model = static_cast<mjCModel*>(s->element);
+  model->ActivatePlugin(plugin, plugin_slot);
+  return plugin_slot;
+}
+
+
+
 // delete object, it will call the appropriate destructor since ~mjCBase is virtual
 void mjs_delete(mjsElement* element) {
   mjCBase* object = static_cast<mjCBase*>(element);
@@ -1027,16 +1042,6 @@ void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes) {
 
 
 
-// Set active plugins.
-void mjs_setActivePlugins(mjSpec* s, void* activeplugins) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  std::vector<std::pair<const mjpPlugin*, int>>* active_plugins =
-      reinterpret_cast<std::vector<std::pair<const mjpPlugin*, int>>*>(activeplugins);
-  modelC->SetActivePlugins(std::move(*active_plugins));
-}
-
-
-
 // -------------------------- GLOBAL ASSET CACHE -------------------------------
 
 void mj_setCacheSize(mjCache cache, std::size_t size) {

src/user/user_api.h

@@ -63,6 +63,9 @@ MJAPI void mj_deleteSpec(mjSpec* s);
 // Add spec (model asset) to spec.
 MJAPI void mjs_addSpec(mjSpec* s, mjSpec* child);
 
+// Activate plugin, return slot number.
+MJAPI int mjs_activatePlugin(mjSpec* s, const char* name);
+
 
 //---------------------------------- Attachment ----------------------------------------------------
 
@@ -347,9 +350,6 @@ MJAPI const double* mjs_getDouble(const mjDoubleVec* source, int* size);
 
 //---------------------------------- Other utilities -----------------------------------------------
 
-// Set active plugins.
-MJAPI void mjs_setActivePlugins(mjSpec* s, void* activeplugins);
-
 // Set element's default.
 MJAPI void mjs_setDefault(mjsElement* element, mjsDefault* def);
 

src/user/user_model.cc

@@ -29,6 +29,7 @@
 #include <string_view>
 #include <thread>
 #include <unordered_map>
+#include <utility>
 #include <vector>
 
 #include <mujoco/mjdata.h>
@@ -4450,6 +4451,23 @@ bool mjCModel::CopyBack(const mjModel* m) {
   return true;
 }
 
+
+
+void mjCModel::ActivatePlugin(const mjpPlugin* plugin, int slot) {
+  bool already_declared = false;
+  for (const auto& [existing_plugin, existing_slot] : active_plugins_) {
+    if (plugin == existing_plugin) {
+      already_declared = true;
+      break;
+    }
+  }
+  if (!already_declared) {
+    active_plugins_.emplace_back(std::make_pair(plugin, slot));
+  }
+}
+
+
+
 void mjCModel::ResolvePlugin(mjCBase* obj, const std::string& plugin_name,
                              const std::string& plugin_instance_name, mjCPlugin** plugin_instance) {
   // if plugin_name is specified, check if it is in the list of active plugins

src/user/user_model.h

@@ -233,9 +233,7 @@ class mjCModel : public mjCModel_, private mjSpec {
   mjCBase* FindObject(mjtObj type, std::string name) const;         // find object given type and name
   mjCBase* FindTree(mjCBody* body, mjtObj type, std::string name);  // find tree object given name
   mjSpec* FindSpec(std::string name) const;                         // find spec given name
-  void SetActivePlugins(const std::vector<std::pair<const mjpPlugin*, int>>&& active_plugins) {
-    active_plugins_ = std::move(active_plugins);
-  }
+  void ActivatePlugin(const mjpPlugin* plugin, int slot);           // activate plugin
 
   // accessors
   std::string get_meshdir() const { return meshdir_; }

src/xml/xml_native_reader.cc

@@ -2882,7 +2882,6 @@ void mjXReader::Default(XMLElement* section, const mjsDefault* def, const mjVFS*
 // extension section parser
 void mjXReader::Extension(XMLElement* section) {
   XMLElement* elem = FirstChildElement(section);
-  std::vector<std::pair<const mjpPlugin*, int>> active_plugins;
 
   while (elem) {
     // get sub-element name
@@ -2890,23 +2889,8 @@ void mjXReader::Extension(XMLElement* section) {
 
     if (name == "plugin") {
       string plugin_name;
-      int plugin_slot = -1;
       ReadAttrTxt(elem, "plugin", plugin_name, /* required = */ true);
-      const mjpPlugin* plugin = mjp_getPlugin(plugin_name.c_str(), &plugin_slot);
-      if (!plugin) {
-        throw mjXError(elem, "unknown plugin '%s'", plugin_name.c_str());
-      }
-
-      bool already_declared = false;
-      for (const auto& [existing_plugin, existing_slot] : active_plugins) {
-        if (plugin == existing_plugin) {
-          already_declared = true;
-          break;
-        }
-      }
-      if (!already_declared) {
-        active_plugins.emplace_back(std::make_pair(plugin, plugin_slot));
-      }
+      int plugin_slot = mjs_activatePlugin(spec, plugin_name.c_str());
 
       XMLElement* child = FirstChildElement(elem);
       while (child) {
@@ -2933,8 +2917,6 @@ void mjXReader::Extension(XMLElement* section) {
     // advance to next element
     elem = NextSiblingElement(elem);
   }
-
-  mjs_setActivePlugins(spec, &active_plugins);
 }
 
 

test/user/user_api_test.cc

@@ -131,22 +131,12 @@ TEST_F(MujocoTest, TreeTraversal) {
 }
 
 TEST_F(PluginTest, ActivatePlugin) {
-  std::string plugin_name = "mujoco.elasticity.cable";
   mjSpec* spec = mj_makeSpec();
-
-  // get slot of requested plugin
-  int plugin_slot = -1;
-  const mjpPlugin* plugin = mjp_getPlugin(plugin_name.c_str(), &plugin_slot);
-  EXPECT_THAT(plugin, NotNull());
-
-  // activated plugin in the slot
-  std::vector<std::pair<const mjpPlugin*, int>> active_plugins;
-  active_plugins.emplace_back(std::make_pair(plugin, plugin_slot));
-  mjs_setActivePlugins(spec, &active_plugins);
+  mjs_activatePlugin(spec, "mujoco.elasticity.cable");
 
   // associate plugin to body
   mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), 0);
-  mjs_setString(body->plugin.name, plugin_name.c_str());
+  mjs_setString(body->plugin.name, "mujoco.elasticity.cable");
   body->plugin.element = mjs_addPlugin(spec)->element;
   body->plugin.active = true;
   mjsGeom* geom = mjs_addGeom(body, 0);
@@ -166,18 +156,8 @@ TEST_F(PluginTest, ActivatePlugin) {
 }
 
 TEST_F(PluginTest, DeletePlugin) {
-  std::string plugin_name = "mujoco.pid";
   mjSpec* spec = mj_makeSpec();
-
-  // get slot of requested plugin
-  int plugin_slot = -1;
-  const mjpPlugin* plugin = mjp_getPlugin(plugin_name.c_str(), &plugin_slot);
-  ASSERT_THAT(plugin, NotNull());
-
-  // activated plugin in the slot
-  std::vector<std::pair<const mjpPlugin*, int>> active_plugins;
-  active_plugins.emplace_back(std::make_pair(plugin, plugin_slot));
-  mjs_setActivePlugins(spec, &active_plugins);
+  mjs_activatePlugin(spec, "mujoco.pid");
 
   // create body
   mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), 0);
@@ -190,7 +170,7 @@ TEST_F(PluginTest, DeletePlugin) {
   // add actuator
   mjsActuator* actuator = mjs_addActuator(spec, 0);
   mjs_setString(actuator->target, "j1");
-  mjs_setString(actuator->plugin.name, plugin_name.c_str());
+  mjs_setString(actuator->plugin.name, "mujoco.pid");
   actuator->plugin.element = mjs_addPlugin(spec)->element;
   actuator->plugin.active = true;
   actuator->trntype = mjTRN_JOINT;