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Using drake to visualise the iCub

The drake urdf parser creates a model which can be easily visualised, even if the visualiser requires an additional dependency, the "Simulink 3D Animation Viewer". The visualiser can be instantiated as follows:

% this code should work by defining the following quantities
% 
% urdf_file : the path to the urdf file (e.g. urdf_file = 'icub.urdf')
% t         : the current time, not relevant  (i.e. t = 0)
% q         : the joint position [rad] (e.g. in iCub q = rand(32,1))

R = RigidBodyManipulator(urdf_file);
v = R.constructVisualizer();
draw(v, t, q);