[Examples] Update example of loading URDF

examples/python/load-urdf.py

+##
+## Copyright (c) 2018 CNRS
+##
+## This file is part of Pinocchio
+## Pinocchio is free software: you can redistribute it
+## and/or modify it under the terms of the GNU Lesser General Public
+## License as published by the Free Software Foundation, either version
+## 3 of the License, or (at your option) any later version.
+##
+## Pinocchio is distributed in the hope that it will be
+## useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+## of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+## General Lesser Public License for more details. You should have
+## received a copy of the GNU Lesser General Public License along with
+## Pinocchio If not, see
+## <http:##www.gnu.org/licenses/>.
+##
+
+##
+## In this short script, we show how to a load a robot model from its URDF description.
+## Here, the robot model is ROMEO, but a similar approach can be done by with rospkg.
+##
+
 import pinocchio as pin
-from pinocchio.romeo_wrapper import RomeoWrapper
+from pinocchio.romeo_wrapper import RobotWrapper
 
-## Load Romeo with RomeoWrapper
+# Load Romeo with RomeoWrapper
 import os
 current_path = os.getcwd()
 
@@ -11,14 +34,15 @@ mesh_dir = model_path
 urdf_filename = "romeo.urdf"
 urdf_model_path = model_path + "/urdf/" + urdf_filename
 
-robot = RomeoWrapper(urdf_model_path, [mesh_dir])
+robot = RobotWrapper(urdf_model_path, [mesh_dir])
 
-## alias
+# alias
 model = robot.model
 data = robot.data
 
-## do whatever, e.g. compute the center of mass position in the world frame
+# do whatever, e.g. compute the center of mass position expressed in the world frame
 q0 = robot.q0
 com = robot.com(q0)
-# This last command is similar to
+
+# This last command is similar to:
 com2 = pin.centerOfMass(model,data,q0)