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Move plugin loading and scanning logic from Simulate to MuJoCo library.

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PiperOrigin-RevId: 489020177
Change-Id: I1c29d931b47d5252e57e1d797cc7c17645859ffc
This commit is contained in:
Saran Tunyasuvunakool
2022-11-16 13:15:05 -08:00
committed by Copybara-Service
parent 2ebc5f097b
commit 9ecade0707
9 changed files with 193 additions and 85 deletions
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python/mujoco/functions.cc
+7
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@@ -535,6 +535,13 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mj_local2Global>(pymodule);
Def<traits::mj_getTotalmass>(pymodule);
Def<traits::mj_setTotalmass>(pymodule);
Def<traits::mj_loadPluginLibrary>(pymodule);
DEF_WITH_OMITTED_PY_ARGS(traits::mj_loadAllPluginLibraries, "callback")(
pymodule,
[](const std::string& directory) {
InterceptMjErrors(::mj_loadAllPluginLibraries)(
directory.c_str(), nullptr);
});
Def<traits::mj_version>(pymodule);
Def<traits::mj_versionString>(pymodule);