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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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python/mujoco/specs_test.py
+30 -6
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@@ -580,7 +580,9 @@ class SpecsTest(absltest.TestCase):
<worldbody>
<body name="body1">
<body name="body3">
<body name="body4"/>
<body name="body4">
<site name="site"/>
</body>
</body>
</body>
<body name="body2"/>
@@ -588,11 +590,33 @@ class SpecsTest(absltest.TestCase):
</mujoco>
"""
spec = mujoco.MjSpec.from_string(main_xml)
self.assertLen(spec.bodies, 4)
self.assertEqual(spec.bodies[0].name, 'body1')
self.assertEqual(spec.bodies[1].name, 'body2')
self.assertEqual(spec.bodies[2].name, 'body3')
self.assertEqual(spec.bodies[3].name, 'body4')
bodytype = mujoco.mjtObj.mjOBJ_BODY
sitetype = mujoco.mjtObj.mjOBJ_SITE
self.assertLen(spec.bodies, 5)
self.assertEqual(spec.bodies[1].name, 'body1')
self.assertEqual(spec.bodies[2].name, 'body2')
self.assertEqual(spec.bodies[3].name, 'body3')
self.assertEqual(spec.bodies[4].name, 'body4')
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)
self.assertEqual(spec.worldbody.find_all(bodytype)[0].name, 'body1')
self.assertEqual(spec.worldbody.find_all(bodytype)[1].name, 'body2')
self.assertEqual(spec.worldbody.find_all(bodytype)[2].name, 'body3')
self.assertEqual(spec.worldbody.find_all(bodytype)[3].name, 'body4')
self.assertEqual(spec.bodies[1].find_all(bodytype)[0].name, 'body3')
self.assertEqual(spec.bodies[1].find_all(bodytype)[1].name, 'body4')
self.assertEqual(spec.bodies[3].find_all(bodytype)[0].name, 'body4')
self.assertEmpty(spec.bodies[2].find_all(bodytype))
self.assertEmpty(spec.bodies[4].find_all(bodytype))
self.assertEqual(spec.worldbody.find_all(sitetype)[0].name, 'site')
with self.assertRaises(ValueError) as cm:
spec.worldbody.find_all(mujoco.mjtObj.mjOBJ_ACTUATOR)
self.assertEqual(
str(cm.exception),
'Error: Body.NextChild supports the types: body, frame, geom, site,'
' light, camera\nElement name \'world\', id 0',
)
def test_iterators(self):
spec = mujoco.MjSpec()