From 4636ea0892de854cb27f6695687fb5c05d3e4c1d Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@laas.fr>
Date: Mon, 15 Apr 2019 18:01:27 +0200
Subject: [PATCH] [script] Display the posture of different robots in gepetto
viewer
---
python/display.py | 42 ++++++++++++++++++++++++++++++++++++++++++
1 file changed, 42 insertions(+)
create mode 100644 python/display.py
diff --git a/python/display.py b/python/display.py
new file mode 100644
index 0000000..e91de54
--- /dev/null
+++ b/python/display.py
@@ -0,0 +1,42 @@
+import sys
+sys.path.append('/opt/openrobots/share/example-robot-data/unittest/')
+from unittest_utils import loadHyQ, loadTalos, loadTalosArm, loadTiago, loadTiagoNoHand, loadICub
+
+
+DISPLAY_HYQ = 'hyq' in sys.argv
+DISPLAY_TALOS = 'talos' in sys.argv
+DISPLAY_TALOS_ARM = 'talos_arm' in sys.argv
+DISPLAY_TIAGO = 'tiago' in sys.argv
+DISPLAY_TIAGO_NO_HAND = 'tiago_no_hand' in sys.argv
+DISPLAY_ICUB = 'icub' in sys.argv
+
+if DISPLAY_HYQ:
+ hyq = loadHyQ()
+ hyq.initDisplay(loadModel=True)
+ hyq.display(hyq.q0)
+
+if DISPLAY_TALOS:
+ talos = loadTalos()
+ talos.initDisplay(loadModel=True)
+ talos.display(talos.q0)
+
+if DISPLAY_TALOS_ARM:
+ talos_arm = loadTalos()
+ talos_arm.initDisplay(loadModel=True)
+ talos_arm.display(talos_arm.q0)
+
+if DISPLAY_TIAGO:
+ tiago = loadTiago()
+ tiago.initDisplay(loadModel=True)
+ tiago.display(tiago.q0)
+
+if DISPLAY_TIAGO_NO_HAND:
+ tiago_no_hand = loadTiagoNoHand()
+ tiago_no_hand.initDisplay(loadModel=True)
+ tiago_no_hand.display(tiago_no_hand.q0)
+
+if DISPLAY_ICUB:
+ icub = loadICub()
+ icub.initDisplay(loadModel=True)
+ icub.display(icub.q0)
+
--
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