#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/spatial/se3.hpp"
#include "pinocchio/spatial/force.hpp"
#include "pinocchio/spatial/motion.hpp"
#include "pinocchio/spatial/inertia.hpp"
#include "pinocchio/multibody/joint/joint-variant.hpp"
#include "pinocchio/multibody/joint/joint-basic-visitors.hpp"
#include <iostream>
#include <boost/bind.hpp>