XML Error: unknown plugin 'mujoco.elasticity.cable'.

[Wangzihao12ous]

I used follow code to load a model:
#include "mujoco.h"
#include "stdio.h"
#include <GLFW/glfw3.h>
#include <mjplugin.h>
#include <mjvisualize.h>
#include <mjxmacro.h>
#include <mjvisualize.h>
#include <mjmodel.h>
#include <mjui.h>
#include "iostream"
char error[1000];
mjModel* m;
mjData* d;
mjvCamera cam; // abstract camera
mjvOption opt; // visualization options
mjvScene scn; // abstract scene
mjrContext con; // custom GPU context
GLFWwindow *window;

int main(void)
{
char error[1000] = "Could not load binary model";
// load model from file and check for errors
m = mj_loadXML("../xml/cable.xml", NULL, error, 1000);
if( !m )
{
printf("%s\n", error);
return 1;
}
std::cout<<mj_versionString();
// make data corresponding to model
d = mj_makeData(m);

// run simulation for 10 seconds
while( d->time<10 )
{
mj_step(m, d);
}

// free model and data
mj_deleteData(d);
mj_deleteModel(m);

return 0;
}

But erro is XML Error: unknown plugin 'mujoco.elasticity.cable'.
However if I use simluate in the bin folder,it is work,like follow:

(base) wzh@wzhhh:~/mujoko/mujoco-3.1.1/bin$ ./simulate ../../mjcdemo/xml/trynew.xml
MuJoCo version 3.1.1
Plugins registered by library 'libactuator.so':
mujoco.pid
Plugins registered by library 'libsensor.so':
mujoco.sensor.touch_grid
Plugins registered by library 'libsdf.so':
mujoco.sdf.bolt
mujoco.sdf.bowl
mujoco.sdf.gear
mujoco.sdf.nut
mujoco.sdf.torus
mujoco.sdf.sdflib
Plugins registered by library 'libelasticity.so':
mujoco.elasticity.cable
mujoco.elasticity.membrane
mujoco.elasticity.shell
mujoco.elasticity.solid

[Balint-H]

You have to load a plugin before it can be recognized by the xml loader. Simulate does this as well. See docs, and how its used in Simulate.

[traversaro]

For a bit more of context on why plugins are not loaded by default in C++, differently from Python: #554 .

[Wangzihao12ous]

You have to load a plugin before it can be recognized by the xml loader. Simulate does this as well. See docs, and how its used in Simulate.

Thank you very much! It works!

[Wangzihao12ous]

For a bit more of context on why plugins are not loaded by default in C++, differently from Python: #554 .

Thank you very much!