Fix plugin loading in simulate UI#3089
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Ashutosh0x wants to merge 2 commits intogoogle-deepmind:mainfrom
Open
Fix plugin loading in simulate UI#3089Ashutosh0x wants to merge 2 commits intogoogle-deepmind:mainfrom
Ashutosh0x wants to merge 2 commits intogoogle-deepmind:mainfrom
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Plugins like SDF, elasticity, and sensor were not being correctly copied to the 'mujoco_plugin' subdirectory where the 'simulate' executable looks for them. This change adds install and output directory directives to the plugin CMakeLists.txt files, ensuring they are placed in the correct location both in the build tree and after installation. Fixes google-deepmind#3013
This ensures that plugins are installed to a 'mujoco_plugin' subdirectory relative to the 'simulate' executable (which is in 'bin') on Linux and macOS, matching the expectation of the plugin loader logic in 'simulate/main.cc'.
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This Pull Request fixes an issue where MuJoCo plugins (SDF, elasticity, sensor, etc.) were not being loaded by the simulate executable when building from source or installing.
The Problem
The simulate executable looks for plugins in a mujoco_plugin subdirectory. However, the plugin CMakeLists.txt files were missing install directives and did not set the RUNTIME_OUTPUT_DIRECTORY / LIBRARY_OUTPUT_DIRECTORY, so the plugins were placed in the default bin or lib folders where simulate couldn't find them.
The Fix
Added set_target_properties to set the build-time output directory to bin/mujoco_plugin and added install commands to ensure they are also copied there during installation.
Fixes #3013