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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_model.cc
+7
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@@ -921,6 +921,13 @@ mjsElement* mjCModel::NextObject(mjsElement* object, mjtObj type) {
switch (type) {
case mjOBJ_BODY:
if (!object) {
return bodies_[0]->spec.element;
} else if (object == bodies_[0]->spec.element) {
return bodies_[0]->NextChild(NULL, type, /*recursive=*/true);
} else {
return bodies_[0]->NextChild(object, type, /*recursive=*/true);
}
case mjOBJ_SITE:
case mjOBJ_GEOM:
case mjOBJ_JOINT: