bindings/python/parsers/mjcf/model.cpp

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//
// Copyright (c) 2024 CNRS INRIA
//
 
#include "pinocchio/parsers/mjcf.hpp"
#include "pinocchio/bindings/python/parsers/mjcf.hpp"
 
#include <boost/python.hpp>
 
namespace pinocchio
{
  namespace python
  {
 
    namespace bp = boost::python;
 
    Model buildModelFromMJCF(const std::string & filename)
    {
      Model model;
      ::pinocchio::mjcf::buildModel(filename, model);
      return model;
    }
 
    Model buildModelFromMJCF(const std::string & filename, const JointModel & root_joint)
    {
      Model model;
      ::pinocchio::mjcf::buildModel(filename, root_joint, model);
      return model;
    }
 
    void exposeMJCFModel()
    {
      bp::def(
        "buildModelFromMJCF",
        static_cast<Model (*)(const std::string &)>(pinocchio::python::buildModelFromMJCF),
        bp::args("mjcf_filename"),
        "Parse the Mjcf file given in input and return a pinocchio Model");
 
      bp::def(
        "buildModelFromMJCF",
        static_cast<Model (*)(const std::string &, const JointModel &)>(
          pinocchio::python::buildModelFromMJCF),
        bp::args("mjcf_filename", "root_joint"),
        "Parse the Mjcf file and return a pinocchio Model with the given root Joint.");
    }
  } // namespace python
} // namespace pinocchio