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Add tests for body.find_all() of joints and geoms, fix error message.

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Fixes #2525

PiperOrigin-RevId: 742685596
Change-Id: I5f0969967f2490d32e5691983e8d0c363d48a6bd
This commit is contained in:
Yuval Tassa
2025-04-01 07:14:00 -07:00
committed by Copybara-Service
parent c0a7ea1edb
commit 305b68ecbf
2 changed files with 5 additions and 1 deletions
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python/mujoco/specs.cc
+1 -1
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@@ -261,7 +261,7 @@ py::list FindAllImpl(raw::MjsBody& body, mjtObj objtype, bool recursive) {
// this should never happen
throw pybind11::value_error(
"body.find_all supports the types: body, frame, geom, site, "
"light, camera.");
"joint, light, camera.");
break;
}
el = mjs_nextChild(&body, el, recursive);
python/mujoco/specs_test.py
+4
View File
@@ -636,6 +636,8 @@ class SpecsTest(absltest.TestCase):
<site name="site4"/>
<body name="body4">
<site name="site5"/>
<joint name="joint1"/>
<geom name="geom1" size="1"/>
</body>
</body>
</body>
@@ -649,6 +651,8 @@ class SpecsTest(absltest.TestCase):
self.assertLen(spec.sites, 5)
self.assertLen(spec.worldbody.find_all('body'), 4)
self.assertLen(spec.worldbody.find_all('site'), 5)
self.assertLen(spec.worldbody.find_all('joint'), 1)
self.assertLen(spec.worldbody.find_all('geom'), 1)
self.assertEqual(spec.bodies[1].name, 'body1')
self.assertEqual(spec.bodies[2].name, 'body2')
self.assertEqual(spec.bodies[3].name, 'body3')