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Add setting plugin config properties via Python bindings.

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PiperOrigin-RevId: 747421357
Change-Id: Ie80f1a889f2f6ec457c1e16193fa0694e07d3fe9
This commit is contained in:
Alessio Quaglino
2025-04-14 08:05:13 -07:00
committed by Copybara-Service
parent f317bd17c3
commit ec186430ef
2 changed files with 19 additions and 1 deletions
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python/mujoco/specs.cc
+16
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@@ -1032,6 +1032,22 @@ PYBIND11_MODULE(_specs, m) {
});
mjsPlugin.def("delete",
[](raw::MjsPlugin& self) { mjs_delete(self.element); });
mjsPlugin.def_property(
"config",
[](raw::MjsPlugin& self) -> void {
throw pybind11::value_error("Reading plugin config is not supported.");
},
[](raw::MjsPlugin& self, py::dict& config) {
std::map<std::string, std::string, std::less<>> config_attribs;
for (const auto& [key, value] : config) {
std::string key_str = key.cast<std::string>();
if (config_attribs.find(key_str) != config_attribs.end()) {
throw pybind11::value_error("Duplicate config key: " + key_str);
}
config_attribs[key_str] = value.cast<std::string>();
}
mjs_setPluginAttributes(&self, &config_attribs);
});
// ============================= MJVISUAL ====================================
mjVisual.def_property(
"global_",