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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 humanoidRandom(ModelTpl< Scalar, Options, JointCollectionTpl > &model, bool usingFF=true)
Create a humanoid kinematic tree with 6-DOF limbs and random joint placements.
void manipulator(ModelTpl< Scalar, Options, JointCollectionTpl > &model)
Create a 6-DOF kinematic chain shoulder-elbow-wrist.
void humanoid(ModelTpl< Scalar, Options, JointCollectionTpl > &model, bool usingFF=true)
Create a 28-DOF kinematic chain of a floating humanoid robot.
void exposeSampleModels()
Model buildSampleModelManipulator()
JointCollectionTpl & model
Main pinocchio namespace.
Model buildSampleModelHumanoidRandom()
pinocchio
Author(s):
autogenerated on Tue Feb 13 2024 03:44:00