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PiperOrigin-RevId: 741444657
Change-Id: I4207eaf74524e8a3ca46130967c6fb0dd62b4d64
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Alessio Quaglino
2025-03-28 01:57:56 -07:00
committed by Copybara-Service
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@@ -601,6 +601,14 @@ Lists of all elements in a spec can be accessed using named properties, using th
``equalities``, ``tendons``, ``actuators``, ``skins``, ``textures``, ``texts``, ``tuples``, ``flexes``, ``hfields``, ``equalities``, ``tendons``, ``actuators``, ``skins``, ``textures``, ``texts``, ``tuples``, ``flexes``, ``hfields``,
``keys``, ``numerics``, ``excludes``, ``sensors``, ``plugins``. ``keys``, ``numerics``, ``excludes``, ``sensors``, ``plugins``.
Element removal
^^^^^^^^^^^^^^^
For elements that can have children (bodies and defaults), the methods ``spec.detach_body(body)`` and
``spec.detach_default(def)`` remove, respectively, ``body`` and ``def`` from the spec, together with all of their
children. When detaching body subtrees, all elements which reference elements in the subtree, will also be removed. For
all other elements, the method ``delete()`` removes the corresponding element from the spec, e.g.
``spec.geom('my_geom').delete()`` will remove the geom named "my_geom" and all of the elements that reference it.
Tree traversal Tree traversal
^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^
Traversal of the kinematic tree is aided by the following methods which return tree-related lists of elements: Traversal of the kinematic tree is aided by the following methods which return tree-related lists of elements: