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[Václav Šmilauer <eudoxos@xxxxxxxx>]

> a=StepDisplacer([DPos[0],DPos[1],DPos[2],qId[3],qId[0],qId[1],qId[2]],'true')
You need to use keyword argument (i.e. name=value), they are not deduced
by position. Do not use quaternion components. Like this:

a=StepDisplacer(se3=(DPos,Quaternion.Identity),setVelocities=True)

HTH, Vaclav