Utilities

Types

class dexrobot_kinematics.utils.types.Pose(position: Position, orientation: ndarray | None = None)

Bases: object

Represents position and orientation

classmethod from_se3(se3: SE3) → Pose

Create from pinocchio SE3

to_quaternion() → ndarray

Convert orientation to quaternion

to_se3() → SE3

Convert to pinocchio SE3

class dexrobot_kinematics.utils.types.Position(x: float, y: float, z: float)

Bases: object

3D position representation with x, y, z coordinates

classmethod from_array(arr: ndarray) → Position

Create from numpy array

to_array() → ndarray

Convert to numpy array