diff --git a/Code/example_robot.py b/Code/example_robot.py
new file mode 100644
index 0000000..74781a3
--- /dev/null
+++ b/Code/example_robot.py
@@ -0,0 +1,27 @@
+# Create a 7DOF manipulator robot and moves it along a constant (random) velocity during 10secs.
+import numpy as np
+from numpy.linalg import pinv,norm
+from pinocchio import neutral
+from robotleg import Leg
+import time
+
+# Create a 7DOF robot.
+robot = Leg()
+
+# Hide the floor.
+robot.viewer.viewer.gui.setVisibility('world/floor','OFF')
+
+# Move the robot during 10secs at velocity v.
+dt = 1e-3
+for j in range (robot.model.nv):
+    v = np.array (robot.model.nv * [0])
+    v [j] = 1
+    q = neutral (robot.model)
+    for i in range(1000):
+        q += v*dt
+        robot.display(q)
+        time.sleep(dt)
+    for i in range(1000):
+        q -= v*dt
+        robot.display(q)
+        time.sleep(dt)
diff --git a/Code/robotleg.py b/Code/robotleg.py
index 372c1c8..c893b6c 100644
--- a/Code/robotleg.py
+++ b/Code/robotleg.py
@@ -39,7 +39,7 @@ class Leg:
         self.viewer.viewer.gui.addSphere('world/' + prefix + 'hip', 0.3,colorred)
         self.visuals.append( Visual('world/' + prefix + 'hip',jointId,SE3.Identity()) )
         self.viewer.viewer.gui.addBox('world/' + prefix + 'thigh', .1,.1,.5,color)
-        self.visuals.append( Visual('world/' + prefix + 'thigh',jointId,SE3(eye(3),np.array([0., 0., .5]))))
+        self.visuals.append( Visual('world/' + prefix + 'thigh',jointId,SE3(eye(3),np.array([0., 0., -.5]))))
 
         jointName          = prefix + "knee_joint"
         jointPlacement     = SE3(eye(3),np.array( [0, 0, 1.0] ))
@@ -49,7 +49,7 @@ class Leg:
         self.viewer.viewer.gui.addSphere('world/' + prefix + 'knee', 0.3,colorred)
         self.visuals.append( Visual('world/' + prefix + 'knee',jointId,SE3.Identity()) )
         self.viewer.viewer.gui.addBox('world/' + prefix + 'tibia', .1,.1,.5,color)
-        self.visuals.append( Visual('world/' + prefix + 'tibia',jointId,SE3(eye(3),np.array([0., 0., .5]))))
+        self.visuals.append( Visual('world/' + prefix + 'tibia',jointId,SE3(eye(3),np.array([0., 0., -.5]))))
 
         jointName          = prefix + "ankle_joint"
         jointPlacement     = SE3(eye(3),np.array( [0, 0, 1.0] ))
@@ -59,7 +59,7 @@ class Leg:
         self.viewer.viewer.gui.addSphere('world/' + prefix + 'ankle', 0.3,colorred)
         self.visuals.append( Visual('world/' + prefix + 'ankle',jointId,SE3.Identity()) )
         self.viewer.viewer.gui.addBox('world/' + prefix + 'feet', .25,.5,.1,color)
-        self.visuals.append( Visual('world/' + prefix + 'feet',jointId,SE3(eye(3),np.array([0., 0., .25]))))
+        self.visuals.append( Visual('world/' + prefix + 'feet',jointId,SE3(eye(3),np.array([0., 0., -.25]))))
 
     def display(self,q):
         forwardKinematics(self.model,self.data,q)