pyrobosim.core.world.World.get_pose_relative_to

World.get_pose_relative_to(pose: Pose, entity: Entity | str) → Pose

Given a relative pose to an entity, and the entity itself, gets the absolute pose.

Parameters:

• pose – The pose specified with respect to the entity.

• entity – The entity, or entity name:

Returns:

Absolute pose computed by transforming the input pose to the entity frame.