use ArgumentParser

README.md

@@ -36,3 +36,10 @@ If you have never added robotpkg as a softwares repository, please follow first
 4. The installation of example-robot-data:
 
 		sudo apt install robotpkg-example-robot-data
+
+
+## Show the robot
+
+(you will need pinocchio and its python bindings)
+
+`python -m example_robot_data [hyq,talos,talos_arm,tiago,tiago_no_hand,icub]`

example_robot_data/__main__.py

-import sys
+from argparse import ArgumentParser
 
 from . import robots_loader
 
-DISPLAY_HYQ = 'hyq' in sys.argv
-DISPLAY_TALOS = 'talos' in sys.argv
-DISPLAY_TALOS_ARM = 'talos_arm' in sys.argv
-DISPLAY_TALOS_LEGS = 'talos_legs' 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
+ROBOTS = ['hyq', 'talos', 'talos_arm', 'talos_legs', 'tiago', 'tiago_no_hand', 'icub']
 
-if DISPLAY_HYQ:
+parser = ArgumentParser()
+parser.add_argument('robot', nargs='?', default=ROBOTS[0], choices=ROBOTS)
+
+args = parser.parse_args()
+
+if args.robot == 'hyq':
     hyq = robots_loader.loadHyQ()
-    hyq.initViewer(loadModel=True)
+    hyq.initDisplay(loadModel=True)
     hyq.display(hyq.q0)
 
-if DISPLAY_TALOS:
+elif args.robot == 'talos':
     talos = robots_loader.loadTalos()
-    talos.initViewer(loadModel=True)
+    talos.initDisplay(loadModel=True)
     talos.display(talos.q0)
 
-if DISPLAY_TALOS_ARM:
+elif args.robot == 'talos_arm':
     talos_arm = robots_loader.loadTalosArm()
-    talos_arm.initViewer(loadModel=True)
+    talos_arm.initDisplay(loadModel=True)
     talos_arm.display(talos_arm.q0)
 
-if DISPLAY_TALOS_LEGS:
+if args.robot == 'laso_legs':
     talos_legs = robots_loader.loadTalosLegs()
     talos_legs.initViewer(loadModel=True)
     talos_legs.display(talos_legs.q0)
 
-if DISPLAY_TIAGO:
+elif args.robot == 'tiago':
     tiago = robots_loader.loadTiago()
-    tiago.initViewer(loadModel=True)
+    tiago.initDisplay(loadModel=True)
     tiago.display(tiago.q0)
 
-if DISPLAY_TIAGO_NO_HAND:
+elif args.robot == 'tiago_no_hand':
     tiago_no_hand = robots_loader.loadTiagoNoHand()
-    tiago_no_hand.initViewer(loadModel=True)
+    tiago_no_hand.initDisplay(loadModel=True)
     tiago_no_hand.display(tiago_no_hand.q0)
 
-if DISPLAY_ICUB:
+elif args.robot == 'icub':
     icub = robots_loader.loadICub()
-    icub.initViewer(loadModel=True)
+    icub.initDisplay(loadModel=True)
     icub.display(icub.q0)