From e20e970d75900bdbcbddfc97bd45cf2073145733 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?St=C3=A9phane=20Caron?= <stephane.caron@inria.fr>
Date: Mon, 14 Oct 2024 14:30:47 +0200
Subject: [PATCH] examples: Show custom configuration

---
 CHANGELOG.md                                  |  7 +++-
 examples/show_custom_configuration.py         | 36 +++++++++++++++++++
 ...shcat.py => show_neutral_configuration.py} |  0
 3 files changed, 42 insertions(+), 1 deletion(-)
 create mode 100644 examples/show_custom_configuration.py
 rename examples/{show_in_meshcat.py => show_neutral_configuration.py} (100%)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index d6761bd..128bd91 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,7 +7,12 @@ All notable changes to this project will be documented in this file.
 ### Added
 
 - Bazel: Export all URDF variants in `upkie_description` filegroup
-- Example to visualize wheel frames while both legs move around
+- examples: Show robot in a custom configuration
+- examples: Visualize wheel frames while both legs move around
+
+### Changed
+
+- examples: Rename example to "show in neutral configuration"
 
 ### Fixed
 
diff --git a/examples/show_custom_configuration.py b/examples/show_custom_configuration.py
new file mode 100644
index 0000000..f1260d4
--- /dev/null
+++ b/examples/show_custom_configuration.py
@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2024 Inria
+
+"""
+Display the center of mass and visual model of the robot.
+"""
+
+import argparse
+import time
+
+import numpy as np
+import upkie_description
+from pinocchio.visualize import MeshcatVisualizer
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("left_hip", help="Left hip joint angle in [rad]")
+    parser.add_argument("left_knee", help="Left knee joint angle in [rad]")
+    parser.add_argument("left_wheel", help="Left wheel joint angle in [rad]")
+    parser.add_argument("right_hip", help="Right hip joint angle in [rad]")
+    parser.add_argument("right_knee", help="Right knee joint angle in [rad]")
+    parser.add_argument("right_wheel", help="Right wheel joint angle in [rad]")
+    args = parser.parse_args()
+
+    robot = upkie_description.load_in_pinocchio(root_joint=None)
+    q = np.array([float(pair[1]) for pair in args._get_kwargs()])
+
+    robot.setVisualizer(MeshcatVisualizer())
+    robot.initViewer(open=True)
+    robot.loadViewerModel()
+    robot.display(q)
+
+    time.sleep(10.0)  # avoid terminating too fast
diff --git a/examples/show_in_meshcat.py b/examples/show_neutral_configuration.py
similarity index 100%
rename from examples/show_in_meshcat.py
rename to examples/show_neutral_configuration.py