show joint frames

example.py

 import sys
-sys.path.append('src')
+sys.path.append('ospi')
+
+import subprocess
+import time
+#from ospi 
 import viewer_utils as vw
 import wrapper as wr
 import motion_parser as mtp
@@ -11,6 +15,13 @@ filename='/local/gmaldona/devel/Models/data/whole_body/wholebody.osim'
 # Create a wrapper specific to the whole-body model 
 # The wrapper parse the OpenSim model and builds pinocchio model and data
 wb_model = wr.Wrapper(filename, mesh_path, name='whole-body_model1')
+
+
+# call the gepetto viewer server
+gvs = subprocess.Popen(["./gepetto-viewer.sh","&"])
+print 'Loading the viewer ...'
+time.sleep(2)
+
 # Init the viewer and add the model to it 
 viewer = vw.Viewer('viewer',wb_model)
 viewer.setVisibility(wb_model.name+"/floor", "OFF")
@@ -18,6 +29,11 @@ viewer.display(wb_model.q0, wb_model.name)
 
 # See kinematic ranges of motion
 
+# See markers
+
+# See axis
+viewer.JointFrames(wb_model.name)
+
 # parse motion:
 time, q, colheaders, qOsim = mtp.parseMotion(wb_model.model, wb_model.joint_transformations, '/home/gmaldona/Dropbox/kv03_filtered_ik.mot','quat')