(cls, array: np.ndarray)
| 141 | |
| 142 | @classmethod |
| 143 | def array2dofpose(cls, array: np.ndarray) -> DofPose: |
| 144 | assert cls.is_valid_array(array) |
| 145 | dofpose = {} |
| 146 | spec = cls.dofpose_specs() |
| 147 | for leg in spec.keys(): |
| 148 | term = {joint: array[cls.arrorder.index(idx)] for joint, idx in spec[leg].items()} |
| 149 | if term: dofpose[leg] = term |
| 150 | return dofpose |
| 151 | |
| 152 | @classmethod |
| 153 | def expand_array(cls, subcls: Type['PoseArray'], array: np.ndarray) -> np.ndarray: |
no test coverage detected