def get_body_geom_ids(model, body_name):
    """ Returns geom_ids in the body. """
    body_id = model.body_name2id(body_name)
    geom_ids = []
    for geom_id in range(model.ngeom):
        if model.geom_bodyid[geom_id] == body_id:
            geom_ids.append(geom_id)
    return geom_ids