def forward_kinematics()

in theseus/embodied/kinematics/robot_model.py [0:0]

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

    def forward_kinematics(self, robot_pose: LieGroup) -> torch.Tensor:
        if isinstance(robot_pose, SE2):
            return robot_pose.translation.data.view(-1, 2, 1)
        if isinstance(robot_pose, Point2) or isinstance(robot_pose, Vector):
            assert robot_pose.dof() == 2
            return robot_pose.data.view(-1, 2, 1)
        raise NotImplementedError(
            f"IdentityModel not implemented for pose with type {type(robot_pose)}."
        )