parameters: (self, q = None)
docstring: Display the robot at configuration q in the viewer by placing all the bodies.
docstring_summary: Display the robot at configuration q in the viewer by placing all the bodies.
docstring_tokens: Display the robot at configuration q in the viewer by placing all the bodies .
function: def display(self, q = None):
          """Display the robot at configuration q in the viewer by placing all the bodies."""
          if 'viewer' not in self.__dict__:
              return
  
          gui = self.viewer.gui
          # Update the robot kinematics and geometry.
          if q is not None:
              pin.forwardKinematics(self.model,self.data,q)
  
          if self.display_collisions:
              pin.updateGeometryPlacements(self.model, self.data, self.collision_model, self.collision_data)
              gui.applyConfigurations (
                      [ self.getViewerNodeName(collision,pin.GeometryType.COLLISION) for collision in self.collision_model.geometryObjects ],
                      [ pin.SE3ToXYZQUATtuple(self.collision_data.oMg[self.collision_model.getGeometryId(collision.name)]) for collision in self.collision_model.geometryObjects ]
                      )
  
          if self.display_visuals:
              pin.updateGeometryPlacements(self.model, self.data, self.visual_model, self.visual_data)
              gui.applyConfigurations (
                      [ self.getViewerNodeName(visual,pin.GeometryType.VISUAL) for visual in self.visual_model.geometryObjects ],
                      [ pin.SE3ToXYZQUATtuple(self.visual_data.oMg[self.visual_model.getGeometryId(visual.name)]) for visual in self.visual_model.geometryObjects ]
                      )
  
          gui.refresh()
function_tokens: def display ( self , q = None ) : if 'viewer' not in self . __dict__ : return gui = self . viewer . gui # Update the robot kinematics and geometry. if q is not None : pin . forwardKinematics ( self . model , self . data , q ) if self . display_collisions : pin . updateGeometryPlacements ( self . model , self . data , self . collision_model , self . collision_data ) gui . applyConfigurations ( [ self . getViewerNodeName ( collision , pin . GeometryType . COLLISION ) for collision in self . collision_model . geometryObjects ] , [ pin . SE3ToXYZQUATtuple ( self . collision_data . oMg [ self . collision_model . getGeometryId ( collision . name ) ] ) for collision in self . collision_model . geometryObjects ] ) if self . display_visuals : pin . updateGeometryPlacements ( self . model , self . data , self . visual_model , self . visual_data ) gui . applyConfigurations ( [ self . getViewerNodeName ( visual , pin . GeometryType . VISUAL ) for visual in self . visual_model . geometryObjects ] , [ pin . SE3ToXYZQUATtuple ( self . visual_data . oMg [ self . visual_model . getGeometryId ( visual . name ) ] ) for visual in self . visual_model . geometryObjects ] ) gui . refresh ( )