Add setting plugin config properties via Python bindings.

PiperOrigin-RevId: 747421357
Change-Id: Ie80f1a889f2f6ec457c1e16193fa0694e07d3fe9

python/mujoco/specs.cc

@@ -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_",

python/mujoco/specs_test.py

@@ -841,8 +841,9 @@ class SpecsTest(absltest.TestCase):
         name='instance_name',
         plugin_name='mujoco.elasticity.cable',
         active=True,
-        info='info',
+        info='info'
     )
+    plugin.config = {'twist': '10', 'bend': '1'}
 
     body = spec.worldbody.add_body()
     body.plugin = plugin
@@ -858,6 +859,7 @@ class SpecsTest(absltest.TestCase):
     model = spec.compile()
     self.assertIsNotNone(model)
     self.assertEqual(model.nplugin, 1)
+    self.assertEqual(model.npluginattr, 7)
     self.assertEqual(model.body_plugin[1], 0)
 
   def test_recompile_error(self):