Add plugin support to Python bindings.

PiperOrigin-RevId: 480675078 Change-Id: I2967654b6662efced8ae62cae9b03c6c8e65c67c
2022-10-12 11:29:37 -07:00
parent 23e4c03efc
commit 95fe2fbc40
5 changed files with 76 additions and 3 deletions
@@ -54,5 +54,15 @@ if _MUJOCO_GL not in ('disable', 'disabled', 'off', 'false', '0'):
    from mujoco.glfw import GLContext

 HEADERS_DIR = os.path.join(os.path.dirname(__file__), 'include/mujoco')
+PLUGINS_DIR = os.path.join(os.path.dirname(__file__), 'plugin')
+
+PLUGIN_HANDLES = []
+
+def _load_all_bundled_plugins():
+  for directory, _, filenames in os.walk(PLUGINS_DIR):
+    for filename in filenames:
+      PLUGIN_HANDLES.append(ctypes.CDLL(os.path.join(directory, filename)))
+
+_load_all_bundled_plugins()

 __version__ = mj_versionString()  # pylint: disable=undefined-variable