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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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src/user/user_api.cc
+14 -4
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@@ -655,17 +655,27 @@ void mjs_setDefault(mjsElement* element, mjsDefault* defspec) {
// return first child of selected type
mjsElement* mjs_firstChild(mjsBody* body, mjtObj type) {
mjsElement* mjs_firstChild(mjsBody* body, mjtObj type, int recurse) {
mjCBody* bodyC = static_cast<mjCBody*>(body->element);
return bodyC->NextChild(NULL, type);
try {
return bodyC->NextChild(NULL, type, recurse);
} catch (mjCError& e) {
bodyC->model->SetError(e);
return nullptr;
}
}
// return body's next child; return NULL if child is last
mjsElement* mjs_nextChild(mjsBody* body, mjsElement* child) {
mjsElement* mjs_nextChild(mjsBody* body, mjsElement* child, int recurse) {
mjCBody* bodyC = static_cast<mjCBody*>(body->element);
return bodyC->NextChild(child);
try {
return bodyC->NextChild(child, child->elemtype, recurse);
} catch(mjCError& e) {
bodyC->model->SetError(e);
return nullptr;
}
}