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Add body.find_all() to Python bindings.

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This enables to generate a list of all body children of a given type.

Also, add recursive option to mjs_firstChild and mjs_nextChild. Fixes #2112.

PiperOrigin-RevId: 681039348
Change-Id: Iebbb26fd5ec314150206edfdddd88633baa0bec6
This commit is contained in:
Alessio Quaglino
2024-10-01 08:56:03 -07:00
committed by Copybara-Service
parent 8a825e6050
commit 89aea5e217
11 changed files with 150 additions and 46 deletions
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include/mujoco/mujoco.h
+4 -3
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@@ -1550,11 +1550,12 @@ MJAPI mjsDefault* mjs_getSpecDefault(mjSpec* s);
// Get element id.
MJAPI int mjs_getId(mjsElement* element);
// Return body's first child of given type.
MJAPI mjsElement* mjs_firstChild(mjsBody* body, mjtObj type);
// Return body's first child of given type. If recurse is nonzero, also search the body's subtree.
MJAPI mjsElement* mjs_firstChild(mjsBody* body, mjtObj type, int recurse);
// Return body's next child of the same type; return NULL if child is last.
MJAPI mjsElement* mjs_nextChild(mjsBody* body, mjsElement* child);
// If recurse is nonzero, also search the body's subtree.
MJAPI mjsElement* mjs_nextChild(mjsBody* body, mjsElement* child, int recurse);
// Return spec's first element of selected type.
MJAPI mjsElement* mjs_firstElement(mjSpec* s, mjtObj type);