text: // Copyright 2015-2020 Josh Pieper, jjp@pobox.com.
  //
  // Licensed under the Apache License, Version 2.0 (the "License");
  // you may not use this file except in compliance with the License.
  // You may obtain a copy of the License at
  //
  //     http://www.apache.org/licenses/LICENSE-2.0
  //
  // Unless required by applicable law or agreed to in writing, software
  // distributed under the License is distributed on an "AS IS" BASIS,
  // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  // See the License for the specific language governing permissions and
  // limitations under the License.
  
  #pragma once
  
  #include <dart/dynamics/Skeleton.hpp>
  
  #include "mech/quadruped_config.h"
  
  namespace mjmech {
  namespace simulator {
  
  /// Build the DART skeleton for the robot.
  dart::dynamics::SkeletonPtr MakeRobot(const mech::QuadrupedConfig&);
  
  /// Return a suitably large floor.
  dart::dynamics::SkeletonPtr MakeFloor();
  
  /// Return a ramp to walk up and down.
  dart::dynamics::SkeletonPtr MakeRamp(double peak_height);
  
  }
  }
  