Python bindings: no runtime access to plugin config (mj_getPluginConfig) for composite/cable plugins

[rodriguesvinay]

Intro

Hi!

I am a PhD student at XYZ, I use MuJoCo for my research on Reinforcement learning.

My setup

mujoco version: 3.3.6.dev803126923
python: 3.11.9
Ubuntu 20.04.6 LTS

My question

When using a composite associated with an engine plugin (e.g., mujoco.elasticity.cable), the Python MuJoCo bindings don’t seem to expose a way to read the plugin’s config at runtime. In C/C++ you can call mj_getPluginConfig(model, instance, "twist"), but in Python mujoco.mj_getPluginConfig is missing, so if I am not wrong/missing something the only reliable option is to re-parse the XML to get values like twist, bend?

My goal is to apply domain randomization and would like to change these values in runtime. Looking forward for your guidance.

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.