#!/usr/bin/env python3
# -*- coding: utf-8 -*-
#
# Copyright 2022 Giulio Romualdi
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

"""
Load a robot description in iDynTree.
"""

from importlib import import_module  # type: ignore

import idyntree.swig as idyn


def load_robot_description(description_name: str) -> int:
    """
    Load a robot description in iDynTree.

    Args:
        description_name: Name of the robot description.

    Returns:
        Identifier of the robot in iDynTree.
    """
    module = import_module(f"robot_descriptions.{description_name}")
    if not hasattr(module, "URDF_PATH"):
        raise ValueError(f"{description_name} is not a URDF description")

    model_loader = idyn.ModelLoader()
    model_loader.loadModelFromFile(module.URDF_PATH)
    robot = model_loader.model().copy()
    return robot
