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

Remove PluginTest and make MujocoTest load plugins.

Browse Source 
MujocoTest now loads plugins from MUJOCO_PLUGIN_DIR if set.
PluginTest is removed; all tests use MujocoTest directly.
testspeed binary loads plugins from MUJOCO_PLUGIN_DIR.

This is in preparation for moving common asset format parsing (obj, msh, stl, etc.) where we will always want to load those plugins.

PiperOrigin-RevId: 874194428
Change-Id: Id90805a9ba5de4627911b56d8b9c4ab4e1b29310
This commit is contained in:
Sam Haves
2026-02-23 12:14:37 -08:00
committed by Copybara-Service
parent 6ec808e2ce
commit 82e92cbcaa
8 changed files with 45 additions and 35 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sample/testspeed.cc
+6
View File
@@ -187,6 +187,12 @@ int main(int argc, char** argv) {
nthread = mjMAX(1, mjMIN(maxthread, nthread));
npoolthread = mjMAX(1, mjMIN(maxthread, npoolthread));
// load plugins from MUJOCO_PLUGIN_DIR if set
const char* plugin_dir = std::getenv("MUJOCO_PLUGIN_DIR");
if (plugin_dir) {
mj_loadAllPluginLibraries(plugin_dir, nullptr);
}
// get filename, determine file type
std::string filename(argv[1]);
bool binary = (filename.find(".mjb") != std::string::npos); // NOLINT