[python] print kinematic chain AFTER loading the robot

cmake @ c8ae5972

-Subproject commit 9965dbcd2a37edbc98707573c05512d838e64c10
+Subproject commit c8ae5972e825bc27bf978f142b81915df19fef70

src/CMakeLists.txt

@@ -39,27 +39,6 @@ FUNCTION(COMPILE_PLUGIN NAME SOURCES ENTITIES)
     )
 ENDFUNCTION()
 
-# Compile plug-ins.
-#IF (HRP2_DYNAMICS_FOUND)
-#  MESSAGE(STATUS "Add dynamic-hrp2_14 plugin")
-#  COMPILE_PLUGIN(dynamic-hrp2_14 dynamic-hrp2_14.cc DynamicHrp2_14)
-#  PKG_CONFIG_USE_DEPENDENCY(dynamic-hrp2_14 hrp2-dynamics)
-#ENDIF()
-
-#IF (HRP2_10_OPTIMIZED_FOUND)
-#  MESSAGE(STATUS "Add dynamic-hrp2_10 plugin")
-#  COMPILE_PLUGIN(dynamic-hrp2_10 dynamic-hrp2_10.cc DynamicHrp2_10)
-#  PKG_CONFIG_USE_DEPENDENCY(dynamic-hrp2_10 hrp2-10-optimized)
-#ENDIF()
-
-#IF (HRP2_10_OPTIMIZED_FOUND)
-#  CONFIG_FILES(dynamic_graph/sot/hrp2_10/robot.py)
-#ENDIF()
-
-#IF (HRP2_DYNAMICS_FOUND)
-#  CONFIG_FILES(dynamic_graph/sot/hrp2_14/robot.py)
-#ENDIF()
-
 # Install Python files.
 SET(PYTHON_MODULE_DIR
   ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/hrp2)

src/dynamic_graph/sot/hrp2/hrp2.py

@@ -106,10 +106,9 @@ class Hrp2(AbstractHumanoidRobot):
         self.dynamic.setModel(self.pinocchioModel)
         self.dynamic.setData(self.pinocchioData)
         self.dimension = self.dynamic.getDimension()
-        self.dynamic.displayModel()
         self.plugVelocityFromDevice = True
         if self.dimension != len(self.halfSitting):
             raise RuntimeError("Dimension of half-sitting: {0} differs from dimension of robot: {1}".format (len(self.halfSitting), self.dimension))
         self.initializeRobot()
-        
+        self.dynamic.displayModel()
 __all__ = [Hrp2]