def get_pose()

in tacto/sensor.py [0:0]

• 11 lines of code
• 4 McCabe index (conditional complexity)

    def get_pose(self):
        if self.link_id < 0:
            # get the base pose if link ID < 0
            position, orientation = p.getBasePositionAndOrientation(
                self.obj_id, physicsClientId=self.cid
            )
        else:
            # get the link pose if link ID >= 0
            position, orientation = p.getLinkState(
                self.obj_id, self.link_id, physicsClientId=self.cid
            )[:2]

        orientation = p.getEulerFromQuaternion(orientation, physicsClientId=self.cid)
        return position, orientation