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Add mjs_getParent to retrieve the parent body of an object.

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PiperOrigin-RevId: 715794859
Change-Id: Ib9792787cdb966f579938dde3f94ebabca8ef1fc
This commit is contained in:
Alessio Quaglino
2025-01-15 07:41:45 -08:00
committed by Copybara-Service
parent 10c7207cea
commit 05d4c3d670
10 changed files with 116 additions and 0 deletions
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doc/APIreference/functions.rst
+9
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@@ -4175,6 +4175,15 @@ Find element in spec by name.
Find child body by name.
.. _mjs_getParent:
`mjs_getParent <#mjs_getParent>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_getParent
Get parent body.
.. _mjs_findFrame:
`mjs_findFrame <#mjs_findFrame>`__
doc/includes/references.h
+1
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@@ -3607,6 +3607,7 @@ mjSpec* mjs_findSpec(mjSpec* spec, const char* name);
mjsBody* mjs_findBody(mjSpec* s, const char* name);
mjsElement* mjs_findElement(mjSpec* s, mjtObj type, const char* name);
mjsBody* mjs_findChild(mjsBody* body, const char* name);
mjsBody* mjs_getParent(mjsElement* element);
mjsFrame* mjs_findFrame(mjSpec* s, const char* name);
mjsDefault* mjs_getDefault(mjsElement* element);
const mjsDefault* mjs_findDefault(mjSpec* s, const char* classname);
doc/python.rst
+2
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@@ -591,6 +591,8 @@ Recursive search:
``body.find_all(mujoco.mjtObj.mjOBJ_SITE)`` or ``body.find_all('site')`` will return a list of all sites under the
body.
Additionally, the parent body of a given element - including bodies and frames - can be accessed via the ``parent``
property. For example, the parent of a site can be accessed via ``site.parent``.
Relationship to ``PyMJCF``
--------------------------
include/mujoco/mujoco.h
+3
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@@ -1546,6 +1546,9 @@ MJAPI mjsElement* mjs_findElement(mjSpec* s, mjtObj type, const char* name);
// Find child body by name.
MJAPI mjsBody* mjs_findChild(mjsBody* body, const char* name);
// Get parent body.
MJAPI mjsBody* mjs_getParent(mjsElement* element);
// Find frame by name.
MJAPI mjsFrame* mjs_findFrame(mjSpec* s, const char* name);
introspect/functions.py
+16
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@@ -9828,6 +9828,22 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Find child body by name.',
)),
('mjs_getParent',
FunctionDecl(
name='mjs_getParent',
return_type=PointerType(
inner_type=ValueType(name='mjsBody'),
),
parameters=(
FunctionParameterDecl(
name='element',
type=PointerType(
inner_type=ValueType(name='mjsElement'),
),
),
),
doc='Get parent body.',
)),
('mjs_findFrame',
FunctionDecl(
name='mjs_findFrame',
python/mujoco/specs.cc
+42
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@@ -680,6 +680,12 @@ PYBIND11_MODULE(_specs, m) {
return mjs_getSpec(self.element);
},
py::return_value_policy::reference_internal);
mjsBody.def_property_readonly(
"parent",
[](raw::MjsBody& self) -> raw::MjsBody* {
return mjs_getParent(self.element);
},
py::return_value_policy::reference_internal);
mjsBody.def(
"attach_frame",
[](raw::MjsBody& self, raw::MjsFrame& frame,
@@ -713,6 +719,12 @@ PYBIND11_MODULE(_specs, m) {
mjsFrame.def("set_frame", [](raw::MjsFrame& self, raw::MjsFrame& frame) {
mjs_setFrame(self.element, &frame);
});
mjsFrame.def_property_readonly(
"parent",
[](raw::MjsFrame& self) -> raw::MjsBody* {
return mjs_getParent(self.element);
},
py::return_value_policy::reference_internal);
mjsFrame.def(
"attach_body",
[](raw::MjsFrame& self, raw::MjsBody& body,
@@ -760,6 +772,12 @@ PYBIND11_MODULE(_specs, m) {
mjsGeom.def("set_default", [](raw::MjsGeom& self, raw::MjsDefault& def) {
mjs_setDefault(self.element, &def);
});
mjsGeom.def_property_readonly(
"parent",
[](raw::MjsGeom& self) -> raw::MjsBody* {
return mjs_getParent(self.element);
},
py::return_value_policy::reference_internal);
mjsGeom.def(
"default",
[](raw::MjsGeom& self) -> raw::MjsDefault* {
@@ -775,6 +793,12 @@ PYBIND11_MODULE(_specs, m) {
mjsJoint.def("set_default", [](raw::MjsJoint& self, raw::MjsDefault& def) {
mjs_setDefault(self.element, &def);
});
mjsJoint.def_property_readonly(
"parent",
[](raw::MjsJoint& self) -> raw::MjsBody* {
return mjs_getParent(self.element);
},
py::return_value_policy::reference_internal);
mjsJoint.def(
"default",
[](raw::MjsJoint& self) -> raw::MjsDefault* {
@@ -790,6 +814,12 @@ PYBIND11_MODULE(_specs, m) {
mjsSite.def("set_default", [](raw::MjsSite& self, raw::MjsDefault& def) {
mjs_setDefault(self.element, &def);
});
mjsSite.def_property_readonly(
"parent",
[](raw::MjsSite& self) -> raw::MjsBody* {
return mjs_getParent(self.element);
},
py::return_value_policy::reference_internal);
mjsSite.def(
"default",
[](raw::MjsSite& self) -> raw::MjsDefault* {
@@ -845,6 +875,12 @@ PYBIND11_MODULE(_specs, m) {
mjsCamera.def("set_default", [](raw::MjsCamera& self, raw::MjsDefault& def) {
mjs_setDefault(self.element, &def);
});
mjsCamera.def_property_readonly(
"parent",
[](raw::MjsCamera& self) -> raw::MjsBody* {
return mjs_getParent(self.element);
},
py::return_value_policy::reference_internal);
mjsCamera.def(
"default",
[](raw::MjsCamera& self) -> raw::MjsDefault* {
@@ -860,6 +896,12 @@ PYBIND11_MODULE(_specs, m) {
mjsLight.def("set_default", [](raw::MjsLight& self, raw::MjsDefault& def) {
mjs_setDefault(self.element, &def);
});
mjsLight.def_property_readonly(
"parent",
[](raw::MjsLight& self) -> raw::MjsBody* {
return mjs_getParent(self.element);
},
py::return_value_policy::reference_internal);
mjsLight.def(
"default",
[](raw::MjsLight& self) -> raw::MjsDefault* {
python/mujoco/specs_test.py
+9
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@@ -646,6 +646,10 @@ class SpecsTest(absltest.TestCase):
self.assertEqual(spec.bodies[2].name, 'body2')
self.assertEqual(spec.bodies[3].name, 'body3')
self.assertEqual(spec.bodies[4].name, 'body4')
self.assertEqual(spec.bodies[1].parent, spec.worldbody)
self.assertEqual(spec.bodies[2].parent, spec.worldbody)
self.assertEqual(spec.bodies[3].parent, spec.bodies[1])
self.assertEqual(spec.bodies[4].parent, spec.bodies[3])
self.assertLen(spec.worldbody.find_all(bodytype), 4)
self.assertLen(spec.bodies[1].find_all(bodytype), 2)
self.assertLen(spec.bodies[3].find_all(bodytype), 1)
@@ -671,6 +675,11 @@ class SpecsTest(absltest.TestCase):
self.assertEqual(spec.bodies[3].sites[2].name, 'site3')
self.assertEqual(spec.bodies[3].sites[3].name, 'site4')
self.assertEqual(spec.bodies[4].sites[0].name, 'site5')
self.assertEqual(spec.bodies[3].sites[0].parent, spec.bodies[3])
self.assertEqual(spec.bodies[3].sites[1].parent, spec.bodies[3])
self.assertEqual(spec.bodies[3].sites[2].parent, spec.bodies[3])
self.assertEqual(spec.bodies[3].sites[3].parent, spec.bodies[3])
self.assertEqual(spec.bodies[4].sites[0].parent, spec.bodies[4])
with self.assertRaises(ValueError) as cm:
spec.worldbody.find_all('actuator')
self.assertEqual(
src/user/user_api.cc
+24
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@@ -649,6 +649,30 @@ mjsBody* mjs_findChild(mjsBody* bodyspec, const char* name) {
// get parent body
mjsBody* mjs_getParent(mjsElement* element) {
switch (element->elemtype) {
case mjOBJ_BODY:
return &(static_cast<mjCBody*>(element)->GetParent()->spec);
case mjOBJ_FRAME:
return &(static_cast<mjCFrame*>(element)->GetParent()->spec);
case mjOBJ_JOINT:
return &(static_cast<mjCJoint*>(element)->GetParent()->spec);
case mjOBJ_GEOM:
return &(static_cast<mjCGeom*>(element)->GetParent()->spec);
case mjOBJ_SITE:
return &(static_cast<mjCSite*>(element)->GetParent()->spec);
case mjOBJ_CAMERA:
return &(static_cast<mjCCamera*>(element)->GetParent()->spec);
case mjOBJ_LIGHT:
return &(static_cast<mjCLight*>(element)->GetParent()->spec);
default:
return nullptr;
}
}
// find frame by name
mjsFrame* mjs_findFrame(mjSpec* s, const char* name) {
mjsElement* frame = mjs_findElement(s, mjOBJ_FRAME, name);
src/user/user_api.h
+3
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@@ -201,6 +201,9 @@ MJAPI mjsElement* mjs_findElement(mjSpec* s, mjtObj type, const char* name);
// Find child body by name.
MJAPI mjsBody* mjs_findChild(mjsBody* body, const char* name);
// Get parent body.
MJAPI mjsBody* mjs_getParent(mjsElement* element);
// Find frame by name.
MJAPI mjsFrame* mjs_findFrame(mjSpec* s, const char* name);
src/user/user_objects.h
+7
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@@ -347,6 +347,7 @@ class mjCBody : public mjCBody_, private mjsBody {
// set parent of this body
void SetParent(mjCBody* _body) { parent = _body; }
mjCBody* GetParent() const { return parent; }
private:
mjCBody(const mjCBody& other, mjCModel* _model); // copy constructor
@@ -411,6 +412,7 @@ class mjCFrame : public mjCFrame_, private mjsFrame {
void CopyFromSpec(void);
void PointToLocal(void);
void SetParent(mjCBody* _body) { body = _body; }
mjCBody* GetParent() const { return body; }
mjCFrame& operator+=(const mjCBody& other);
@@ -462,6 +464,7 @@ class mjCJoint : public mjCJoint_, private mjsJoint {
void CopyFromSpec(void);
void SetParent(mjCBody* _body) { body = _body; }
mjCBody* GetParent() const { return body; }
// used by mjXWriter and mjCModel
const std::vector<double>& get_userdata() const { return userdata_; }
@@ -543,6 +546,7 @@ class mjCGeom : public mjCGeom_, private mjsGeom {
bool IsVisual(void) const { return visual_; }
void SetNotVisual(void) { visual_ = false; }
void SetParent(mjCBody* _body) { body = _body; }
mjCBody* GetParent() const { return body; }
mjtGeom Type() const { return type; }
// Compute all coefs modeling the interaction with the surrounding fluid.
@@ -608,6 +612,7 @@ class mjCSite : public mjCSite_, private mjsSite {
// site's body
mjCBody* Body() const { return body; }
void SetParent(mjCBody* _body) { body = _body; }
mjCBody* GetParent() const { return body; }
// use strings from mjCBase rather than mjStrings from mjsSite
using mjCBase::name;
@@ -661,6 +666,7 @@ class mjCCamera : public mjCCamera_, private mjsCamera {
const std::vector<double>& get_userdata() const { return userdata_; }
void SetParent(mjCBody* _body) { body = _body; }
mjCBody* GetParent() const { return body; }
private:
void Compile(void); // compiler
@@ -701,6 +707,7 @@ class mjCLight : public mjCLight_, private mjsLight {
const std::string& get_targetbody() const { return targetbody_; }
void SetParent(mjCBody* _body) { body = _body; }
mjCBody* GetParent() const { return body; }
private:
void Compile(void); // compiler