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/*
* Copyright (c) 2011-2021, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include <dart/dart.hpp>
#include <dart/utils/utils.hpp>
#include <pybind11/pybind11.h>
namespace py = pybind11;
namespace dart {
namespace python {
void MjcfParser(py::module& m)
{
auto sm = m.def_submodule("MjcfParser");
::py::class_<utils::MjcfParser::Options>(sm, "Options")
.def(
::py::init<
const common::ResourceRetrieverPtr&,
const std::string&,
const std::string&>(),
::py::arg("resourceRetretrieverOrNullptrriever") = nullptr,
::py::arg("geomSkeletonNamePrefix") = "__geom_skel__",
::py::arg("siteSkeletonNamePrefix") = "__site_skel__")
.def_readwrite("mRetriever", &utils::MjcfParser::Options::mRetriever)
.def_readwrite(
"mGeomSkeletonNamePrefix",
&utils::MjcfParser::Options::mGeomSkeletonNamePrefix)
.def_readwrite(
"mSiteSkeletonNamePrefix",
&utils::MjcfParser::Options::mSiteSkeletonNamePrefix);
// resource retriever APIs
sm.def(
"readWorld",
&utils::MjcfParser::readWorld,
::py::arg("uri"),
::py::arg("options") = utils::MjcfParser::Options());
}
} // namespace python
} // namespace dart
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