Remove PluginTest and make MujocoTest load plugins.

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

sample/testspeed.cc

@@ -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

test/engine/engine_plugin_test.cc

@@ -376,10 +376,10 @@ int RegisterNoAttributePlugin() {
   return mjp_registerPlugin(&plugin);
 }
 
-class EnginePluginTest : public PluginTest {
+class EnginePluginTest : public MujocoTest {
  public:
   // register all plugins
-  EnginePluginTest() : PluginTest() {
+  EnginePluginTest() : MujocoTest() {
     RegisterSensorPlugin();
 
     for (int i = 1; i <= kNumFakePlugins; ++i) {
@@ -466,7 +466,7 @@ TEST_F(MujocoTest, EmptyPluginDisallowed) {
   mj_deleteModel(m);
 }
 
-TEST_F(PluginTest, FirstPartyPlugins) {
+TEST_F(MujocoTest, FirstPartyPlugins) {
   EXPECT_THAT(mjp_pluginCount(), kNumTruePlugins);
 }
 

test/engine/engine_ray_test.cc

@@ -82,7 +82,7 @@ using ::testing::DoubleNear;
 using ::testing::ElementsAre;
 using ::testing::NotNull;
 using ::testing::Pointwise;
-using RayTest = PluginTest;
+using RayTest = MujocoTest;
 
 TEST_F(RayTest, NoExclusions) {
   char error[1024];

test/fixture.h

@@ -16,9 +16,12 @@
 #define MUJOCO_TEST_FIXTURE_H_
 
 #include <csetjmp>
+#include <cstdio>  // IWYU pragma: keep
+#include <cstdlib>  // IWYU pragma: keep
 #include <cstring>
 #include <iomanip>
 #include <iostream>
+#include <mutex>  // IWYU pragma: keep
 #include <string>
 #include <string_view>
 #include <vector>
@@ -54,6 +57,21 @@ class MujocoErrorTestGuard {
 // trigger a test failure.
 class MujocoTest : public ::testing::Test {
  public:
+  MujocoTest() {
+    static std::once_flag flag;
+    std::call_once(flag, []() {
+      const char* plugin_dir = std::getenv("MUJOCO_PLUGIN_DIR");
+      if (plugin_dir) {
+        mj_loadAllPluginLibraries(
+          plugin_dir, +[](const char* filename, int first, int count) {
+            std::printf("Plugins registered by library '%s':\n", filename);
+            for (int i = first; i < first + count; ++i) {
+              std::printf("    %s\n", mjp_getPluginAtSlot(i)->name);
+            }
+          });
+      }
+    });
+  }
   ~MujocoTest() { mj_freeLastXML(); }
 
  private:
@@ -183,20 +201,6 @@ class MockFilesystem {
   std::string dir_;  // current directory
 };
 
-// Installs all plugins
-class PluginTest : public MujocoTest {
- public:
-  // load plugin library
-  PluginTest() : MujocoTest() {
-    mj_loadAllPluginLibraries(
-      std::string(std::getenv("MUJOCO_PLUGIN_DIR")).c_str(), +[](const char* filename, int first, int count) {
-        std::printf("Plugins registered by library '%s':\n", filename);
-        for (int i = first; i < first + count; ++i) {
-          std::printf("    %s\n", mjp_getPluginAtSlot(i)->name);
-        }
-      });
-  }
-};
 
 }  // namespace mujoco
 #endif  // MUJOCO_TEST_FIXTURE_H_

test/plugin/actuator/pid_test.cc

@@ -29,7 +29,7 @@
 namespace mujoco {
 namespace {
 
-using PidTest = PluginTest;
+using PidTest = MujocoTest;
 using ::testing::DoubleNear;
 using ::testing::HasSubstr;
 using ::testing::IsNull;

test/plugin/elasticity/elasticity_test.cc

@@ -26,7 +26,7 @@
 namespace mujoco {
 namespace {
 
-using ElasticityTest = PluginTest;
+using ElasticityTest = MujocoTest;
 
 
 // -------------------------------- cable -----------------------------------

test/user/user_api_test.cc

@@ -171,7 +171,7 @@ TEST_F(MujocoTest, TreeTraversal) {
   mj_deleteSpec(spec);
 }
 
-TEST_F(PluginTest, ActivatePlugin) {
+TEST_F(MujocoTest, ActivatePlugin) {
   mjSpec* spec = mj_makeSpec();
   mjs_activatePlugin(spec, "mujoco.elasticity.cable");
 
@@ -196,7 +196,7 @@ TEST_F(PluginTest, ActivatePlugin) {
   mj_deleteModel(model);
 }
 
-TEST_F(PluginTest, DeletePlugin) {
+TEST_F(MujocoTest, DeletePlugin) {
   mjSpec* spec = mj_makeSpec();
   mjs_activatePlugin(spec, "mujoco.pid");
 
@@ -267,7 +267,7 @@ static constexpr char xml_plugin_2[] = R"(
     </actuator>
   </mujoco>)";
 
-TEST_F(PluginTest, AttachPlugin) {
+TEST_F(MujocoTest, AttachPlugin) {
   std::array<char, 1000> err;
   mjSpec* parent = mj_parseXMLString(xml_plugin_1, 0, err.data(), err.size());
   ASSERT_THAT(parent, NotNull()) << err.data();
@@ -316,7 +316,7 @@ TEST_F(PluginTest, AttachPlugin) {
   mj_deleteSpec(spec_3);
 }
 
-TEST_F(PluginTest, DetachPlugin) {
+TEST_F(MujocoTest, DetachPlugin) {
   std::array<char, 1000> err;
   mjSpec* parent = mj_parseXMLString(xml_plugin_1, 0, err.data(), err.size());
   ASSERT_THAT(parent, NotNull()) << err.data();
@@ -342,7 +342,7 @@ TEST_F(PluginTest, DetachPlugin) {
   mj_deleteSpec(child);
 }
 
-TEST_F(PluginTest, AttachExplicitPlugin) {
+TEST_F(MujocoTest, AttachExplicitPlugin) {
   static constexpr char xml_parent[] = R"(
     <mujoco model="MuJoCo Model">
       <worldbody>
@@ -396,7 +396,7 @@ TEST_F(PluginTest, AttachExplicitPlugin) {
   mj_deleteModel(model);
 }
 
-TEST_F(PluginTest, ReplicatePlugin) {
+TEST_F(MujocoTest, ReplicatePlugin) {
   static constexpr char xml[] = R"(
     <mujoco>
       <extension>
@@ -429,7 +429,7 @@ TEST_F(PluginTest, ReplicatePlugin) {
   mj_deleteModel(model);
 }
 
-TEST_F(PluginTest, ReplicateExplicitPlugin) {
+TEST_F(MujocoTest, ReplicateExplicitPlugin) {
   static constexpr char xml[] = R"(
     <mujoco>
       <extension>
@@ -484,7 +484,7 @@ TEST_F(MujocoTest, RecompileFails) {
   mj_deleteSpec(spec);
 }
 
-TEST_F(PluginTest, ModifyShellInertiaFails) {
+TEST_F(MujocoTest, ModifyShellInertiaFails) {
   static constexpr char xml[] = R"(
   <mujoco>
     <asset>
@@ -515,7 +515,7 @@ TEST_F(PluginTest, ModifyShellInertiaFails) {
 }
 
 // ------------------- test recompilation multiple files -----------------------
-TEST_F(PluginTest, RecompileCompare) {
+TEST_F(MujocoTest, RecompileCompare) {
   mjtNum tol = 0;
   std::string field = "";
 
@@ -606,7 +606,7 @@ TEST_F(PluginTest, RecompileCompare) {
   }
 }
 
-TEST_F(PluginTest, RecompileEdit) {
+TEST_F(MujocoTest, RecompileEdit) {
   static constexpr char xml[] = R"(
   <mujoco>
     <worldbody>
@@ -640,7 +640,7 @@ TEST_F(PluginTest, RecompileEdit) {
 
 // ------------------- test cache with modified assets -------------------------
 
-TEST_F(PluginTest, RecompileCompareObjCache) {
+TEST_F(MujocoTest, RecompileCompareObjCache) {
   static constexpr char xml[] = R"(
   <mujoco>
     <asset>
@@ -716,7 +716,7 @@ static constexpr uint8_t tex2[] = {
   0x82
 };
 
-TEST_F(PluginTest, RecompileComparePngCache) {
+TEST_F(MujocoTest, RecompileComparePngCache) {
   static constexpr char xml[] = R"(
   <mujoco>
     <asset>
@@ -753,7 +753,7 @@ TEST_F(PluginTest, RecompileComparePngCache) {
   mj_deleteVFS(vfs.get());
 }
 
-TEST_F(PluginTest, DisableCache) {
+TEST_F(MujocoTest, DisableCache) {
   static constexpr char xml[] = R"(
   <mujoco>
     <asset>
@@ -791,7 +791,7 @@ TEST_F(PluginTest, DisableCache) {
 
 // -------------------------------- test textures ------------------------------
 
-TEST_F(PluginTest, TextureFromBuffer) {
+TEST_F(MujocoTest, TextureFromBuffer) {
   mjSpec* spec = mj_makeSpec();
 
   mjsTexture* t1 = mjs_addTexture(spec);

test/xml/xml_native_writer_test.cc

@@ -44,7 +44,7 @@ using ::testing::HasSubstr;
 using ::testing::Not;
 using ::testing::NotNull;
 
-using XMLWriterTest = PluginTest;
+using XMLWriterTest = MujocoTest;
 
 static const char* const kNonRgbTextureXMLPath =
     "xml/testdata/hfield_png_nonrgb.xml";