text: import sys; sys.path.append('..')
  
  import rbdyn as rbd
  
  import pepper
  
  
  mb, mbc, mbg, limits, visual_tf, collision_tf =\
    pepper.readUrdf('pepper', pepper.rootBody,
                         pepper.virtualJoints, [],
                         pepper.halfSitting)
  
  
  def robot(fixed=False):
    if not fixed:
      return mb, mbc, mbg
    else:
      mbF = mbg.makeMultiBody(mbg.bodyIdByName(pepper.rootBody), True)
      mbcF = rbd.MultiBodyConfig(mbF)
      mbcF.zero(mbF)
      return mbF, mbcF, mbg
  
  '''
  def convexHull():
    fileByBodyName = pepper.stdCollisionsFiles(mb)
    return pepper.convexHull(fileByBodyName, mb)
  
  
  def stpbvHull():
    fileByBodyName = pepper.stdCollisionsFiles(mb)
    return pepper.stpbvHull(fileByBodyName, mb)
  
  
  def collisionTransforms():
    return collision_tf
  
  
  def bounds():
    return pepper.nominalBounds(limits)
  
  
  def stance():
    return pepper.halfSittingPose(mb), ('LeftFoot', 'RightFoot')
  
  
  def forceSensors():
    return pepper.forceSensors
  
  
  def accelerometerBody():
    return pepper.accelBody
  '''
  