MujocoTest now loads plugins from MUJOCO_PLUGIN_DIR if set.
PluginTest is removed; all tests use MujocoTest directly.
testspeed binary loads plugins from MUJOCO_PLUGIN_DIR.
This is in preparation for moving common asset format parsing (obj, msh, stl, etc.) where we will always want to load those plugins.
PiperOrigin-RevId: 874194428
Change-Id: Id90805a9ba5de4627911b56d8b9c4ab4e1b29310
All instances of mujoco_test in the code base were followed by
a call to target_link_libraries(<testname> fixture gmock).
As anyhow mujoco_test already was calling target_link_libraries
to some predefined list of targets (mujoco and gtest_main),
this PR adds to the list of default linked targets also fixture
and gmock, to reduce the boilerplate.
Furthermore, to completly remove the need for calling
target_link_libraries after a call to mujoco_test, this PR also
add to the mujoco_test macro the ADDITIONAL_LINK_LIBRARIES
argument, that can be used if a given test needs to link some
additional targets beside the default ones.
To permit to use these new features also for mujoco benchmarks,
this PR adds a MAIN_TARGET parameter to mujoco_test, to select
if gtest_main or another target is used to provide the main
entry point to the test executable.
Support actdim attribute on plugin actuators.
Remove the actuator_actdim callback. This callback leads to crashes when loading keyframes for models that have a stateful plugin.
PiperOrigin-RevId: 650649505
Change-Id: I40d1994d02ae4e20ce631b2702a984766cf2628e
This allows plugins to call mju_warning, and have the string propagate to users.
PiperOrigin-RevId: 650621601
Change-Id: I608e7a3a1ad126ab8da2ff0634fa708458fb9ccc
Yuval Tassa