text: import math
  import sys
  
  import matplotlib.pyplot as plt
  from mpl_toolkits.mplot3d import Axes3D
  
  from IK_Engine import Quadruped
  
  sys.path.append("../control")
  
  
  
  # Setting up 3D matplotlib figure
  fig = plt.figure()
  ax = Axes3D(fig)
  ax.set_aspect("equal")
  
  start_height = 170
  WINDOW_SIZE = 500
  ax.set_xlim3d(-WINDOW_SIZE / 2, WINDOW_SIZE / 2)
  ax.set_ylim3d(-WINDOW_SIZE / 2, WINDOW_SIZE / 2)
  ax.set_zlim3d(-start_height, WINDOW_SIZE - start_height)
  
  ax.set_xlabel('x (mm)')
  ax.set_ylabel('y (mm)')
  ax.set_zlabel('z (mm)')
  
  # Setting up Quadruped
  robot = Quadruped(ax=ax, origin=(0, 0, 0), height=start_height)
  # Going to starting pose
  robot.start_position()
  # Shifting robot pose in cartesian system x-y-z (body-relative)
  robot.shift_body_xyz(30, 0, 0)
  # Shifting robot pose in Euler Angles yaw-pitch-roll (body-relative)
  robot.shift_body_rotation(math.radians(
      20), math.radians(-10), math.radians(0))
  
  
  robot.draw_body()
  robot.draw_legs()
  
  plt.show()
  