def display(self):
#Put your display handler here
#the current example draws the sensed robot in grey and the
#commanded configurations in transparent green
#this line with draw the world
robot = motion.robot
q = robot.getKlamptSensedPosition()
self.world.robot(0).setConfig(q)
self.world.robot(0).drawGL()
GLWidgetProgram.display(self)
#draw commanded configuration
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA)
glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE,[0,1,0,0.5])
q = robot.getKlamptCommandedPosition()
self.world.robot(0).setConfig(q)
self.world.robot(0).drawGL(False)
glDisable(GL_BLEND)