bindings: Bind pydrake.multibody.Parser.AddModelFromString

RobotLocomotion · Aug 5, 2020 · 38ba3f8 · 38ba3f8
1 parent f5a8d4b
commit 38ba3f8
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Showing 2 changed files with 20 additions and 4 deletions.
diff --git a/bindings/pydrake/multibody/parsing_py.cc b/bindings/pydrake/multibody/parsing_py.cc
@@ -52,7 +52,10 @@ PYBIND11_MODULE(parsing, m) {
         .def("AddAllModelsFromFile", &Class::AddAllModelsFromFile,
             py::arg("file_name"), cls_doc.AddAllModelsFromFile.doc)
         .def("AddModelFromFile", &Class::AddModelFromFile, py::arg("file_name"),
-            py::arg("model_name") = "", cls_doc.AddModelFromFile.doc);
+            py::arg("model_name") = "", cls_doc.AddModelFromFile.doc)
+        .def("AddModelFromString", &Class::AddModelFromString,
+            py::arg("file_contents"), py::arg("file_type"),
+            py::arg("model_name") = "", cls_doc.AddModelFromString.doc);
   }
 }
 

diff --git a/bindings/pydrake/multibody/test/parsing_test.py b/bindings/pydrake/multibody/test/parsing_test.py
@@ -39,9 +39,10 @@ def test_package_map(self):
         dut.PopulateFromEnvironment('TEST_TMPDIR')
         dut.PopulateFromFolder(tmpdir)
 
-    def test_parser(self):
-        # Calls every combination of arguments for the Parser methods and
-        # inspects their return type.
+    def test_parser_file(self):
+        """Calls every combination of arguments for the Parser methods which
+        use a file_name (not contents) and inspects their return type.
+        """
         sdf_file = FindResourceOrThrow(
             "drake/multibody/benchmarks/acrobot/acrobot.sdf")
         urdf_file = FindResourceOrThrow(
@@ -69,3 +70,15 @@ def test_parser(self):
                 assert result_dim is list
                 self.assertIsInstance(result, list)
                 self.assertIsInstance(result[0], ModelInstanceIndex)
+
+    def test_parser_string(self):
+        """Checks parsing from a string (not file_name)."""
+        sdf_file = FindResourceOrThrow(
+            "drake/multibody/benchmarks/acrobot/acrobot.sdf")
+        with open(sdf_file, "r") as f:
+            sdf_contents = f.read()
+        plant = MultibodyPlant(time_step=0.01)
+        parser = Parser(plant=plant)
+        result = parser.AddModelFromString(
+            file_contents=sdf_contents, file_type="sdf")
+        self.assertIsInstance(result, ModelInstanceIndex)