feat(joint-ellipsoid): bindings, model graphs

fix: ellipsoid radius variables, and linting

Author: ipuch

bindings/python/parsers/graph/expose-edges.cpp

@@ -111,6 +111,12 @@ namespace pinocchio
         .def_readonly("nq", &JointSphericalZYX::nq, "Number of configuration variables.")
         .def_readonly("nv", &JointSphericalZYX::nv, "Number of tangent variables.");
 
+      bp::class_<JointEllipsoid>(
+        "JointEllipsoid", "Represents an ellipsoidal joint.",
+        bp::init<>(bp::args("self"), "Default constructor."))
+        .def_readonly("nq", &JointEllipsoid::nq, "Number of configuration variables.")
+        .def_readonly("nv", &JointEllipsoid::nv, "Number of tangent variables.");
+
       bp::class_<JointTranslation>(
         "JointTranslation", "Represents a translation joint.",
         bp::init<>(bp::args("self"), "Default constructor."))

include/pinocchio/bindings/python/context/generic.hpp

@@ -99,6 +99,9 @@ namespace pinocchio
       typedef JointModelSphericalZYXTpl<Scalar> JointModelSphericalZYX;
       typedef JointDataSphericalZYXTpl<Scalar> JointDataSphericalZYX;
 
+      typedef JointModelEllipsoidTpl<Scalar, Options> JointModelEllipsoid;
+      typedef JointDataEllipsoidTpl<Scalar, Options> JointDataEllipsoid;
+
       typedef JointDataPrismaticTpl<Scalar, Options, 0> JointDataPX;
       typedef JointModelPrismaticTpl<Scalar, Options, 0> JointModelPX;
 

include/pinocchio/bindings/python/multibody/joint/joints-models.hpp

@@ -247,6 +247,28 @@ namespace pinocchio
         .def_readwrite("pitch", &context::JointModelHZ::m_pitch, "Pitch h of the JointModelHZ.");
     }
 
+    // specialization for JointModelHelical
+    template<>
+    bp::class_<context::JointModelEllipsoid> &
+    expose_joint_model<context::JointModelEllipsoid>(bp::class_<context::JointModelEllipsoid> & cl)
+    {
+      return cl
+        .def(bp::init<context::Scalar, context::Scalar, context::Scalar>(
+          bp::args("self", "radius_a", "radius_b", "radius_c"),
+          "Init JointModelEllipsoid with radii a, b and c"))
+        .def(
+          bp::init<>(bp::args("self"), "Init JointModelEllipsoid with default radii equal to 0.01"))
+        .def_readwrite(
+          "radius_a", &context::JointModelEllipsoid::radius_a,
+          "Radius a of the JointModelEllipsoid along X axis.")
+        .def_readwrite(
+          "radius_b", &context::JointModelEllipsoid::radius_b,
+          "Radius b of the JointModelEllipsoid along Y axis.")
+        .def_readwrite(
+          "radius_c", &context::JointModelEllipsoid::radius_c,
+          "Radius c of the JointModelEllipsoid along Z axis.");
+    }
+
     // specialization for JointModelUniversal
     template<>
     bp::class_<context::JointModelUniversal> &