From 75c633dca2b1e8310558c7ec7af0b596be61c83a Mon Sep 17 00:00:00 2001
From: Megane Millan <megane.millan@inria.fr>
Date: Mon, 8 Jul 2024 15:38:13 +0200
Subject: [PATCH] [bindings] Added revolute unbounded

---
 .../python/multibody/joint/joints-models.hpp  | 33 ++++++++++++++++++-
 1 file changed, 32 insertions(+), 1 deletion(-)

diff --git a/include/pinocchio/bindings/python/multibody/joint/joints-models.hpp b/include/pinocchio/bindings/python/multibody/joint/joints-models.hpp
index d2c9fe6b83..6285c0accf 100644
--- a/include/pinocchio/bindings/python/multibody/joint/joints-models.hpp
+++ b/include/pinocchio/bindings/python/multibody/joint/joints-models.hpp
@@ -26,7 +26,7 @@ namespace pinocchio
       return cl;
     }
 
-    // specialization for JointModelPrismatic
+    // specialization for JointModelRevolute
     template<>
     bp::class_<context::JointModelRX> &
     expose_joint_model<context::JointModelRX>(bp::class_<context::JointModelRX> & cl)
@@ -75,6 +75,37 @@ namespace pinocchio
           "Rotation axis of the JointModelRevoluteUnaligned.");
     }
 
+    // specialization for JointModelRevoluteUnbounded
+    template<>
+    bp::class_<context::JointModelRUBX> &
+    expose_joint_model<context::JointModelRUBX>(bp::class_<context::JointModelRUBX> & cl)
+    {
+      return cl.def(bp::init<>(bp::args("self"), "Init JointModelRUBX with x as rotation axis"))
+        .def(
+          "getMotionAxis", &context::JointModelRUBX::getMotionAxis,
+          "Rotation axis of the JointModelRUBX.");
+    }
+
+    template<>
+    bp::class_<context::JointModelRUBY> &
+    expose_joint_model<context::JointModelRUBY>(bp::class_<context::JointModelRUBY> & cl)
+    {
+      return cl.def(bp::init<>(bp::args("self"), "Init JointModelRUBY with y as rotation axis"))
+        .def(
+          "getMotionAxis", &context::JointModelRUBY::getMotionAxis,
+          "Rotation axis of the JointModelRUBY.");
+    }
+
+    template<>
+    bp::class_<context::JointModelRUBZ> &
+    expose_joint_model<context::JointModelRUBZ>(bp::class_<context::JointModelRUBZ> & cl)
+    {
+      return cl.def(bp::init<>(bp::args("self"), "Init JointModelRUBZ with z as rotation axis"))
+        .def(
+          "getMotionAxis", &context::JointModelRUBZ::getMotionAxis,
+          "Rotation axis of the JointModelRUBZ.");
+    }
+
     // specialization for JointModelPrismatic
     template<>
     bp::class_<context::JointModelPX> &