# Create a 7DOF manipulator robot and moves it along a constant (random) velocity during 10secs.
from numpy.linalg import pinv,norm
from pinocchio import neutral
from pinocchio.explog import exp,log
from display import Display
import eigenpy
from leggedrobot import Robot
import eigenpy
import time

# Create a 7DOF robot.
robot = Robot()

# Hide the floor.
robot.viewer.viewer.gui.setVisibility('world/floor','OFF')

# Move the robot during 10secs at velocity v.
dt = 2e-3
q = neutral (robot.model)
robot.display(q)