Merge pull request #2431 from nim65s/path

bindings: allow use of `pathlib.Path | str` for paths

CHANGELOG.md

@@ -13,6 +13,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Add parsing of equality/connect tag for closed-loop chains for MJCF format ([#2413](https://github.com/stack-of-tasks/pinocchio/pull/2413))
 - Add compatibility with NumPy 2 `__array__` API ([#2436](https://github.com/stack-of-tasks/pinocchio/pull/2436))
 - Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) ([#2402](https://github.com/stack-of-tasks/pinocchio/pull/2402))
+- Allow use of `pathlib.Path | str` for paths in python bindings ([#2431](https://github.com/stack-of-tasks/pinocchio/pull/2431))
 
 ### Fixed
 - Fix linkage of Boost.Serialization on Windows ([#2400](https://github.com/stack-of-tasks/pinocchio/pull/2400))

bindings/python/parsers/mjcf/geometry.cpp

@@ -4,6 +4,7 @@
 
 #include "pinocchio/parsers/mjcf.hpp"
 #include "pinocchio/bindings/python/parsers/mjcf.hpp"
+#include "pinocchio/bindings/python/utils/path.hpp"
 
 #include <boost/python.hpp>
 
@@ -15,29 +16,29 @@ namespace pinocchio
     namespace bp = boost::python;
 
     GeometryModel
-    buildGeomFromMJCF(Model & model, const std::string & filename, const GeometryType & type)
+    buildGeomFromMJCF(Model & model, const bp::object & filename, const GeometryType & type)
     {
       GeometryModel geometry_model;
-      ::pinocchio::mjcf::buildGeom(model, filename, type, geometry_model);
+      ::pinocchio::mjcf::buildGeom(model, path(filename), type, geometry_model);
       return geometry_model;
     }
 
     GeometryModel buildGeomFromMJCF(
       Model & model,
-      const std::string & filename,
+      const bp::object & filename,
       const GeometryType & type,
       ::hpp::fcl::MeshLoaderPtr & meshLoader)
     {
       GeometryModel geometry_model;
-      ::pinocchio::mjcf::buildGeom(model, filename, type, geometry_model, meshLoader);
+      ::pinocchio::mjcf::buildGeom(model, path(filename), type, geometry_model, meshLoader);
       return geometry_model;
     }
 
     void exposeMJCFGeom()
     {
       bp::def(
         "buildGeomFromMJCF",
-        static_cast<GeometryModel (*)(Model &, const std::string &, const GeometryType &)>(
+        static_cast<GeometryModel (*)(Model &, const bp::object &, const GeometryType &)>(
           pinocchio::python::buildGeomFromMJCF),
         bp::args("model", "mjcf_filename", "geom_type"),
         "Parse the Mjcf file given as input looking for the geometry of the given input model and\n"
@@ -52,7 +53,7 @@ namespace pinocchio
       bp::def(
         "buildGeomFromMJCF",
         static_cast<GeometryModel (*)(
-          Model &, const std::string &, const GeometryType &, ::hpp::fcl::MeshLoaderPtr &)>(
+          Model &, const bp::object &, const GeometryType &, ::hpp::fcl::MeshLoaderPtr &)>(
           pinocchio::python::buildGeomFromMJCF),
         bp::args("model", "mjcf_filename", "geom_type", "mesh_loader"),
         "Parse the Mjcf file given as input looking for the geometry of the given input model and\n"

bindings/python/parsers/mjcf/model.cpp

@@ -4,6 +4,7 @@
 
 #include "pinocchio/parsers/mjcf.hpp"
 #include "pinocchio/bindings/python/parsers/mjcf.hpp"
+#include "pinocchio/bindings/python/utils/path.hpp"
 
 #include <boost/python.hpp>
 
@@ -14,49 +15,50 @@ namespace pinocchio
 
     namespace bp = boost::python;
 
-    Model buildModelFromMJCF(const std::string & filename)
+    Model buildModelFromMJCF(const bp::object & filename)
     {
       Model model;
-      ::pinocchio::mjcf::buildModel(filename, model);
+      ::pinocchio::mjcf::buildModel(path(filename), model);
       return model;
     }
 
-    Model buildModelFromMJCF(const std::string & filename, const JointModel & root_joint)
+    Model buildModelFromMJCF(const bp::object & filename, const JointModel & root_joint)
     {
       Model model;
-      ::pinocchio::mjcf::buildModel(filename, root_joint, model);
+      ::pinocchio::mjcf::buildModel(path(filename), root_joint, model);
       return model;
     }
 
     bp::tuple buildModelFromMJCF(
-      const std::string & filename,
+      const bp::object & filename,
       const JointModel & root_joint,
       const std::string & root_joint_name)
     {
       Model model;
       PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) contact_models;
-      ::pinocchio::mjcf::buildModel(filename, root_joint, root_joint_name, model, contact_models);
+      ::pinocchio::mjcf::buildModel(
+        path(filename), root_joint, root_joint_name, model, contact_models);
       return bp::make_tuple(model, contact_models);
     }
 
     void exposeMJCFModel()
     {
       bp::def(
         "buildModelFromMJCF",
-        static_cast<Model (*)(const std::string &)>(pinocchio::python::buildModelFromMJCF),
+        static_cast<Model (*)(const bp::object &)>(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 &)>(
+        static_cast<Model (*)(const bp::object &, 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.");
 
       bp::def(
         "buildModelFromMJCF",
-        static_cast<bp::tuple (*)(const std::string &, const JointModel &, const std::string &)>(
+        static_cast<bp::tuple (*)(const bp::object &, const JointModel &, const std::string &)>(
           pinocchio::python::buildModelFromMJCF),
         bp::args("mjcf_filename", "root_joint", "root_joint_name"),
         "Parse the MJCF file and return a pinocchio Model with the given root Joint and its "