Update doc & stubs

haosulab · Apr 4, 2024 · 5a90655 · 5a90655
1 parent 4dadea9
commit 5a90655
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diff --git a/mplib/pymp/kinematics/pinocchio.pyi b/mplib/pymp/kinematics/pinocchio.pyi
@@ -161,6 +161,7 @@ class PinocchioModel:
             frame of the link
         :return: 6 x n jacobian of the link
         """
+    def get_adjacent_links(self) -> set[tuple[str, str]]: ...
     def get_chain_joint_index(self, end_effector: str) -> list[int]:
         """
         Get the joint indices of the joints in the chain from the root to the given

diff --git a/pybind/docstring/kinematics/pinocchio/pinocchio_model.h b/pybind/docstring/kinematics/pinocchio/pinocchio_model.h
@@ -118,6 +118,12 @@ Constructs a PinocchioModel from URDF string
 :param verbose: print debug information. Default: ``False``.
 :return: a unique_ptr to PinocchioModel)doc";
 
+static const char *__doc_mplib_kinematics_pinocchio_PinocchioModelTpl_getAdjacentLinks =
+R"doc(
+Get the all adjacent link names.
+
+:return: adjacent link names as a set of pairs of strings)doc";
+
 static const char *__doc_mplib_kinematics_pinocchio_PinocchioModelTpl_getChainJointIndex =
 R"doc(
 Get the joint indices of the joints in the chain from the root to the given