| 42 | namespace python { |
| 43 | |
| 44 | void MjcfParser(py::module& m) |
| 45 | { |
| 46 | auto sm = m.def_submodule("MjcfParser"); |
| 47 | |
| 48 | ::py::class_<utils::MjcfParser::Options>(sm, "Options") |
| 49 | .def( |
| 50 | ::py::init< |
| 51 | const common::ResourceRetrieverPtr&, |
| 52 | const std::string&, |
| 53 | const std::string&>(), |
| 54 | ::py::arg("resourceRetretrieverOrNullptrriever") = nullptr, |
| 55 | ::py::arg("geomSkeletonNamePrefix") = "__geom_skel__", |
| 56 | ::py::arg("siteSkeletonNamePrefix") = "__site_skel__") |
| 57 | .def_readwrite("mRetriever", &utils::MjcfParser::Options::mRetriever) |
| 58 | .def_readwrite( |
| 59 | "mGeomSkeletonNamePrefix", |
| 60 | &utils::MjcfParser::Options::mGeomSkeletonNamePrefix) |
| 61 | .def_readwrite( |
| 62 | "mSiteSkeletonNamePrefix", |
| 63 | &utils::MjcfParser::Options::mSiteSkeletonNamePrefix); |
| 64 | |
| 65 | // resource retriever APIs |
| 66 | sm.def( |
| 67 | "readWorld", |
| 68 | &utils::MjcfParser::readWorld, |
| 69 | ::py::arg("uri"), |
| 70 | ::py::arg("options") = utils::MjcfParser::Options()); |
| 71 | } |
| 72 | |
| 73 | } // namespace python |
| 74 | } // namespace dart |