returns the size of the lookup table

Sends a command and blocks until 'ok' or 'error' is received. :param cmd: The command to send. :param timeout: Maximum time t

Closes the serial port.

Transform a point from local to world space

Try to open the serial port. Retry until timeout expires.

Invert this pose

PID controller function

return inverse of a normalized quaternion

Helper rounding function

Handles a single serial line sent by the device :param line: string containing a single line

Feed input chars one by one

Calibrates the given joint and returns the measured data as three lists containing: data[0]: list of motor angles dat

* @brief Computes the intersection points between a circle in the XY-plane and a 3D sphere. * * Given: * - A circle centered at the origin (0,0,0

set an entry of the lookup table

Homes one or more axes on the device :param axis_list: Optional list of axis indices to home. If None, all axes are homed. :r