From 95ab4954b33f559925a71825388c89c79c707d29 Mon Sep 17 00:00:00 2001
From: Aurelie Clodic <aurelie.clodic@gmail.com>
Date: Wed, 22 Oct 2014 18:02:14 +0200
Subject: [PATCH 1/2] [cmake] Synchronize

---
 cmake | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cmake b/cmake
index c4377b88..a831f540 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit c4377b88bff0dd8abd1f2816fd956e620504eb45
+Subproject commit a831f5403a93b67c6cb8675625e79dd676a565f3

From 10a3a893bd755efb0f3902ab9f2adf88566d2ed3 Mon Sep 17 00:00:00 2001
From: Aurelie Clodic <aurelie.clodic@gmail.com>
Date: Thu, 23 Oct 2014 09:37:38 +0200
Subject: [PATCH 2/2] Divide walk_romeo in two scripts

walk_romeo.py loads and uses romeo urdf full model
walk_romeo_small.py loads and uses romeo_small urdf model
---
 python/CMakeLists.txt      |  2 +-
 python/walk_romeo_small.py | 53 ++++++++++++++++++++++++++++++++++++++
 2 files changed, 54 insertions(+), 1 deletion(-)
 create mode 100644 python/walk_romeo_small.py

diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 6abe4bda..40527fca 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -2,7 +2,7 @@ INCLUDE(../cmake/python.cmake)
 FINDPYTHON()
 
 INSTALL(
-  FILES walk_romeo.py
+  FILES walk_romeo.py walk_romeo_small.py
   DESTINATION ${PYTHON_SITELIB}/dynamic_graph/tutorial
 )
 
diff --git a/python/walk_romeo_small.py b/python/walk_romeo_small.py
new file mode 100644
index 00000000..91e4e7b2
--- /dev/null
+++ b/python/walk_romeo_small.py
@@ -0,0 +1,53 @@
+# ______________________________________________________________________________
+# ******************************************************************************
+# A simple Herdt walking pattern generator for Romeo.
+# ______________________________________________________________________________
+# ******************************************************************************
+
+# from dynamic_graph.sot.romeo.sot_romeo_controller import *
+# Create the robot.
+from dynamic_graph.sot.core import *
+from dynamic_graph.sot.dynamics import *
+from dynamic_graph.sot.romeo.robot import *
+robot = Robot('romeo_small', device=RobotSimu('romeo_small'))
+
+from dynamic_graph import plug
+plug(robot.device.state, robot.dynamic.position)
+
+# Binds with ros, export joint_state.
+from dynamic_graph.ros import *
+ros = Ros(robot)
+
+# Create a solver.
+from dynamic_graph.sot.application.velocity.precomputed_tasks import initialize
+solver = initialize ( robot )
+
+from dynamic_graph.sot.pattern_generator.walking import CreateEverythingForPG , walkFewSteps, walkAndrei
+CreateEverythingForPG ( robot , solver )
+# walkFewSteps ( robot )
+walkAndrei( robot )
+
+#-------------------------------------------------------------------------------
+#----- MAIN LOOP ---------------------------------------------------------------
+#-------------------------------------------------------------------------------
+
+from dynamic_graph.sot.core.utils.thread_interruptible_loop import loopInThread,loopShortcuts
+dt=5e-3
+@loopInThread
+def inc():
+    robot.device.increment(dt)
+
+runner=inc()
+[go,stop,next,n]=loopShortcuts(runner)
+
+# --- HERDT PG AND START -------------------------------------------------------
+# Set the algorithm generating the ZMP reference trajectory to Herdt's one.
+# pg.startHerdt(False)
+
+print('You can now modifiy the speed of the robot by setting pg.pg.velocitydes')
+print('example : robot.pg.velocitydes.value =(0.1,0.0,0.0)\n')
+
+robot.pg.velocitydes.value =(0.1,0.0,0.0)
+
+go()
+