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Change mjs_nextChild to be DFS to match XML parsing.

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PiperOrigin-RevId: 778915232
Change-Id: I5e290f47b7d2530597bb6c85b66ff2ae807e5510
This commit is contained in:
Alessio Quaglino
2025-07-03 10:05:46 -07:00
committed by Copybara-Service
parent 67f9ffddbd
commit af7d20c035
4 changed files with 49 additions and 43 deletions
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python/mujoco/specs_test.py
+7 -7
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@@ -643,7 +643,7 @@ class SpecsTest(absltest.TestCase):
<worldbody>
<body name="body1">
<site name="site1"/>
<body name="body3">
<body name="body2">
<site name="site4"/>
</body>
<geom name="geom1" size="1"/>
@@ -652,7 +652,7 @@ class SpecsTest(absltest.TestCase):
<site name="site3"/>
<geom name="geom3" size="1"/>
</body>
<body name="body2">
<body name="body3">
<site name="site5"/>
</body>
</worldbody>
@@ -669,12 +669,12 @@ class SpecsTest(absltest.TestCase):
self.assertEqual(spec.bodies[2].name, 'body2')
self.assertEqual(spec.bodies[3].name, 'body3')
self.assertEqual(spec.bodies[1].parent, spec.bodies[0])
self.assertEqual(spec.bodies[2].parent, spec.bodies[0])
self.assertEqual(spec.bodies[3].parent, spec.bodies[1])
self.assertEqual(spec.bodies[2].parent, spec.bodies[1])
self.assertEqual(spec.bodies[3].parent, spec.bodies[0])
self.assertLen(spec.worldbody.find_all(bodytype), 3)
self.assertLen(spec.bodies[1].find_all(bodytype), 1)
self.assertEmpty(spec.bodies[3].find_all(bodytype))
self.assertEqual(spec.bodies[1].find_all('body')[0].name, 'body3')
self.assertEqual(spec.bodies[1].find_all('body')[0].name, 'body2')
self.assertEmpty(spec.bodies[3].find_all('body'))
self.assertEmpty(spec.bodies[2].find_all('body'))
for i, body in enumerate(spec.worldbody.find_all('body')):
@@ -687,8 +687,8 @@ class SpecsTest(absltest.TestCase):
self.assertEqual(spec.bodies[1].sites[0].name, 'site1')
self.assertEqual(spec.bodies[1].sites[1].name, 'site2')
self.assertEqual(spec.bodies[1].sites[2].name, 'site3')
self.assertEqual(spec.bodies[3].sites[0].name, 'site4')
self.assertEqual(spec.bodies[2].sites[0].name, 'site5')
self.assertEqual(spec.bodies[2].sites[0].name, 'site4')
self.assertEqual(spec.bodies[3].sites[0].name, 'site5')
for body in spec.bodies:
for site in body.sites:
self.assertEqual(site.parent, body)