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novaphy.ik.get_ee_rotation

World-frame end-effector rotation matrix from generalized coordinates.

def get_ee_rotation(
    art,
    q,
    ee_link_index: int = -1,
) -> np.ndarray

Parameters

Parameter Description
art A finalized novaphy.Model, JointBodyBundle, or compatible list-based object.
q Generalized positions for that model/bundle.
ee_link_index End-effector link index (-1 = last link).

Returns

(3, 3) float64 rotation matrix.

See Also