models: correct new display function

models/simple_model.py

@@ -4,7 +4,7 @@
 
 import pinocchio as pin
 from math import pi
-from pinocchio.utils import np, rotate, XYZQUATToViewerConfiguration, se3ToXYZQUAT
+from pinocchio.utils import np, rotate
 
 DENSITY = 1
 
@@ -105,7 +105,7 @@ class RobotDisplay(object):
         self.viewer.gui.refresh()
 
     def place(self, obj_name, m):
-        self.viewer.gui.applyConfiguration(obj_name, XYZQUATToViewerConfiguration(se3ToXYZQUAT(m)))
+        self.viewer.gui.applyConfiguration(obj_name,pin.se3ToXYZQUATtuple(m))
 
 
 class SimplestWalker(ModelWrapper):

unittest/python/utils.py

@@ -3,11 +3,10 @@ from math import sqrt
 
 import numpy as np
 import pinocchio as pin
-from pinocchio.utils import (XYZQUATToSe3, cross, isapprox, se3ToXYZQUAT)
+from pinocchio.utils import cross, isapprox
 
 from test_case import TestCase
 
-
 class TestUtils(TestCase):
     def test_cross(self):
         a = np.matrix('2. 0. 0.').T
@@ -19,8 +18,8 @@ class TestUtils(TestCase):
         m = pin.SE3.Identity()
         m.translation = np.matrix('1. 2. 3.').T
         m.rotation = np.matrix('1. 0. 0.;0. 0. -1.;0. 1. 0.')  # rotate('x', pi / 2)
-        self.assertApprox(se3ToXYZQUAT(m).T, [1., 2., 3., sqrt(2) / 2, 0, 0, sqrt(2) / 2])
-        self.assertApprox(XYZQUATToSe3([1., 2., 3., sqrt(2) / 2, 0, 0, sqrt(2) / 2]), m)
+        self.assertApprox(pin.se3ToXYZQUAT(m).T, [1., 2., 3., sqrt(2) / 2, 0, 0, sqrt(2) / 2])
+        self.assertApprox(pin.XYZQUATToSe3([1., 2., 3., sqrt(2) / 2, 0, 0, sqrt(2) / 2]), m)
 
     def test_isapprox(self):
         self.assertFalse(isapprox(1, 2))