5 #include "pinocchio/parsers/sample-models.hpp" 7 #include <boost/python.hpp> 36 #ifdef PINOCCHIO_WITH_HPP_FCL 40 buildModels::manipulatorGeometries(model,geom);
59 #ifdef PINOCCHIO_WITH_HPP_FCL 63 buildModels::humanoidGeometries(model,geom);
70 bp::def(
"buildSampleModelHumanoidRandom",
72 "Generate a (hard-coded) model of a humanoid robot with 6-DOF limbs and random joint placements.\nOnly meant for unit tests." 75 bp::def(
"buildSampleModelHumanoidRandom",
77 bp::args(
"using_free_flyer"),
78 "Generate a (hard-coded) model of a humanoid robot with 6-DOF limbs and random joint placements.\nOnly meant for unit tests." 81 bp::def(
"buildSampleModelManipulator",
83 "Generate a (hard-coded) model of a simple manipulator." 86 #ifdef PINOCCHIO_WITH_HPP_FCL 87 bp::def(
"buildSampleGeometryModelManipulator",
88 static_cast <
GeometryModel (*) (
const Model&)> (pinocchio::python::buildSampleGeometryModelManipulator),
90 "Generate a (hard-coded) geometry model of a simple manipulator." 94 bp::def(
"buildSampleModelHumanoid",
96 "Generate a (hard-coded) model of a simple humanoid." 99 bp::def(
"buildSampleModelHumanoid",
101 bp::args(
"using_free_flyer"),
102 "Generate a (hard-coded) model of a simple humanoid." 105 #ifdef PINOCCHIO_WITH_HPP_FCL 106 bp::def(
"buildSampleGeometryModelHumanoid",
107 static_cast <
GeometryModel (*) (
const Model&)> (pinocchio::python::buildSampleGeometryModelHumanoid),
109 "Generate a (hard-coded) geometry model of a simple humanoid." Model buildSampleModelHumanoid()
void humanoid(ModelTpl< Scalar, Options, JointCollectionTpl > &model, bool usingFF=true)
Create a 28-DOF kinematic chain of a floating humanoid robot.
void exposeSampleModels()
Main pinocchio namespace.
Model buildSampleModelManipulator()
Model buildSampleModelHumanoidRandom()
void humanoidRandom(ModelTpl< Scalar, Options, JointCollectionTpl > &model, bool usingFF=true)
Create a humanoid kinematic tree with 6-DOF limbs and random joint placements.
JointCollectionTpl & model
void manipulator(ModelTpl< Scalar, Options, JointCollectionTpl > &model)
Create a 6-DOF kinematic chain shoulder-elbow-wrist.