Add auto-generated tree element lists to Python bindings.

PiperOrigin-RevId: 680973047 Change-Id: I948151260cba330c6b7218cecf13aae2c7ae92c7
2024-10-01 05:22:07 -07:00
parent 62ec802ec1
commit 8a825e6050
3 changed files with 60 additions and 229 deletions
@@ -574,6 +574,26 @@ class SpecsTest(absltest.TestCase):
    self.assertEqual(spec.sensors[1].name, 'sensor2')
    self.assertEqual(spec.sensors[2].name, 'sensor3')

+  def test_body_list(self):
+    main_xml = """
+    <mujoco>
+      <worldbody>
+        <body name="body1">
+          <body name="body3">
+            <body name="body4"/>
+          </body>
+        </body>
+        <body name="body2"/>
+      </worldbody>
+    </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')
+
  def test_iterators(self):
    spec = mujoco.MjSpec()
    geom1 = spec.worldbody.add_geom()