text: // Copyright (c) 2020 Julian Bernhard, Klemens Esterle, Patrick Hart and
  // Tobias Kessler
  //
  // This work is licensed under the terms of the MIT license.
  // For a copy, see <https://opensource.org/licenses/MIT>.
  
  
  #include "commons/commons.hpp"
  #include "geometry/geometry.hpp"
  #include "models/models.hpp"
  #include "world/world.hpp"
  #include "viewer/viewer.hpp" 
  #include "runtime.hpp" 
  
  namespace py = pybind11;
  
  PYBIND11_MODULE(bark, m) {
    m.doc() = "Wrapper for BARK library.";
    python_geometry(
      m.def_submodule("geometry", "submodule handling geometries"));
    python_commons(
      m.def_submodule("commons",
      "submodule containing all wrapped parameters objects"));
    python_models(
      m.def_submodule("models",
      "submodule containing models such as the behavior, dynamic and execution"));
    python_world(
      m.def_submodule("world", "submodule containing all wrapped parameters objects"));
    python_viewer(m.def_submodule("viewer", "submodule containing the viewer"));
    python_runtime(
      m.def_submodule("runtime", "submodule containing the runtime"));
  }