Add mjs_getParent to retrieve the parent body of an object.

PiperOrigin-RevId: 715794859
Change-Id: Ib9792787cdb966f579938dde3f94ebabca8ef1fc

doc/APIreference/functions.rst

@@ -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

@@ -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

@@ -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``
 --------------------------