Enable procedural plugin activation in Python bindings.

PiperOrigin-RevId: 746055614
Change-Id: Idcc2f62fdfeccdca356e3d1acadf168b46a98881

python/mujoco/codegen/generate_spec_bindings.py

@@ -84,6 +84,7 @@ def _value_binding_code(
   fulltype = fulltype.replace('mjOption', 'raw::MjOption')
   fulltype = fulltype.replace('mjVisual', 'raw::MjVisual')
   fulltype = fulltype.replace('mjStatistic', 'raw::MjStatistic')
+  element = '.element' if fullvarname == 'plugin' else ''
 
   def_property_args = (
       f'"{varname}"',
@@ -91,7 +92,7 @@ def _value_binding_code(
         return self.{fullvarname};
       }}""",
       f"""[]({rawclassname}& self, {fulltype} {varname}) {{
-        self.{fullvarname} = {varname};
+        self.{fullvarname}{element} = {varname}{element};
       }}""",
   )
 

python/mujoco/specs.cc

@@ -483,6 +483,13 @@ PYBIND11_MODULE(_specs, m) {
       py::arg("suffix") = py::none(), py::arg("site") = py::none(),
       py::arg("frame") = py::none(),
       py::return_value_policy::reference_internal);
+  mjSpec.def(
+    "activate_plugin",
+      [](MjSpec& self, std::string& name) {
+        mjs_activatePlugin(self.ptr, name.c_str());
+      },
+      py::arg("name"),
+      py::return_value_policy::reference_internal);
 
   // ============================= MJSBODY =====================================
   mjsBody.def(

python/mujoco/specs_test.py

@@ -835,22 +835,19 @@ class SpecsTest(absltest.TestCase):
     self.assertEqual(model.nsensor, 9)
 
   def test_plugin(self):
-    xml = """
+    spec = mujoco.MjSpec()
-    <mujoco>
+    spec.activate_plugin('mujoco.elasticity.cable')
-      <extension>
+    plugin = spec.add_plugin(
-        <plugin plugin="mujoco.elasticity.cable"/>
+        name='instance_name',
-      </extension>
+        plugin_name='mujoco.elasticity.cable',
-    </mujoco>
+        active=True,
-    """
+        info='info',
-
+    )
-    spec = mujoco.MjSpec.from_string(xml)
-    self.assertIsNotNone(spec.worldbody)
 
     body = spec.worldbody.add_body()
+    body.plugin = plugin
     body.plugin.plugin_name = 'mujoco.elasticity.cable'
-    body.plugin.id = spec.add_plugin()
     body.plugin.active = True
-    self.assertEqual(body.plugin.id, 0)
 
     geom = body.add_geom()
     geom.type = mujoco.mjtGeom.mjGEOM_BOX