| Directory: | ./ |
|---|---|
| File: | bindings/python/parsers/mjcf/model.cpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 23 | 23 | 100.0% |
| Branches: | 12 | 24 | 50.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2024 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/parsers/mjcf.hpp" | ||
| 6 | #include "pinocchio/bindings/python/parsers/mjcf.hpp" | ||
| 7 | #include "pinocchio/bindings/python/utils/path.hpp" | ||
| 8 | |||
| 9 | #include <boost/python.hpp> | ||
| 10 | |||
| 11 | namespace pinocchio | ||
| 12 | { | ||
| 13 | namespace python | ||
| 14 | { | ||
| 15 | |||
| 16 | namespace bp = boost::python; | ||
| 17 | |||
| 18 | 1 | Model buildModelFromMJCF(const bp::object & filename) | |
| 19 | { | ||
| 20 | 1 | Model model; | |
| 21 |
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1 | ::pinocchio::mjcf::buildModel(path(filename), model); |
| 22 | 1 | return model; | |
| 23 | } | ||
| 24 | |||
| 25 | 1 | Model buildModelFromMJCF(const bp::object & filename, const JointModel & root_joint) | |
| 26 | { | ||
| 27 | 1 | Model model; | |
| 28 |
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1 | ::pinocchio::mjcf::buildModel(path(filename), root_joint, model); |
| 29 | 1 | return model; | |
| 30 | } | ||
| 31 | |||
| 32 | 1 | bp::tuple buildModelFromMJCF( | |
| 33 | const bp::object & filename, | ||
| 34 | const JointModel & root_joint, | ||
| 35 | const std::string & root_joint_name) | ||
| 36 | { | ||
| 37 |
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1 | Model model; |
| 38 |
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1 | PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) contact_models; |
| 39 |
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1 | ::pinocchio::mjcf::buildModel( |
| 40 |
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2 | path(filename), root_joint, root_joint_name, model, contact_models); |
| 41 |
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2 | return bp::make_tuple(model, contact_models); |
| 42 | 1 | } | |
| 43 | |||
| 44 | 65 | void exposeMJCFModel() | |
| 45 | { | ||
| 46 |
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65 | bp::def( |
| 47 | "buildModelFromMJCF", | ||
| 48 | static_cast<Model (*)(const bp::object &)>(pinocchio::python::buildModelFromMJCF), | ||
| 49 | 130 | bp::args("mjcf_filename"), | |
| 50 | "Parse the MJCF file given in input and return a pinocchio Model."); | ||
| 51 | |||
| 52 |
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65 | bp::def( |
| 53 | "buildModelFromMJCF", | ||
| 54 | static_cast<Model (*)(const bp::object &, const JointModel &)>( | ||
| 55 | pinocchio::python::buildModelFromMJCF), | ||
| 56 | 130 | bp::args("mjcf_filename", "root_joint"), | |
| 57 | "Parse the MJCF file and return a pinocchio Model with the given root Joint."); | ||
| 58 | |||
| 59 |
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65 | bp::def( |
| 60 | "buildModelFromMJCF", | ||
| 61 | static_cast<bp::tuple (*)(const bp::object &, const JointModel &, const std::string &)>( | ||
| 62 | pinocchio::python::buildModelFromMJCF), | ||
| 63 | 130 | bp::args("mjcf_filename", "root_joint", "root_joint_name"), | |
| 64 | "Parse the MJCF file and return a pinocchio Model with the given root Joint and its " | ||
| 65 | "specified name as well as a constraint list if some are present in the MJCF file."); | ||
| 66 | 65 | } | |
| 67 | } // namespace python | ||
| 68 | } // namespace pinocchio | ||
| 69 |