From 99ff778b702daadc96100cd9f671943f201f73bf Mon Sep 17 00:00:00 2001
From: Valenza Florian <fvalenza@laas.fr>
Date: Wed, 15 Jun 2016 15:18:54 +0200
Subject: [PATCH] [Python] Added example of loading and displaying romeo.
---
python/display.py | 25 +++++++++++++++++++++++++
1 file changed, 25 insertions(+)
create mode 100644 python/display.py
diff --git a/python/display.py b/python/display.py
new file mode 100644
index 000000000..338cf55f5
--- /dev/null
+++ b/python/display.py
@@ -0,0 +1,25 @@
+import unittest
+import pinocchio as se3
+import numpy as np
+
+from pinocchio.robot_wrapper import RobotWrapper
+
+# Warning : the paths are here hard-coded. This file is only here as an example
+list_py = ["/local/fvalenza/devel/src/pinocchio/models","titi"]
+robot = RobotWrapper("/local/fvalenza/devel/src/pinocchio/models/romeo.urdf",list_py, se3.JointModelFreeFlyer())
+
+robot.initDisplay()
+robot.loadDisplayModel("world/pinocchio")
+
+q0 = np.matrix([
+ 0, 0, 0.840252, 0, 0, 0, 1, # Free flyer
+ 0, 0, -0.3490658, 0.6981317, -0.3490658, 0, # left leg
+ 0, 0, -0.3490658, 0.6981317, -0.3490658, 0, # right leg
+ 0, # chest
+ 1.5, 0.6, -0.5, -1.05, -0.4, -0.3, -0.2, # left arm
+ 0, 0, 0, 0, # head
+ 1.5, -0.6, 0.5, 1.05, -0.4, -0.3, -0.2, # right arm
+]).T
+
+robot.display(q0)
+
--
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