Rigid3d Tutorial

Vector3d point_in_camera_frame = detect_object(); Vector3d point_in_base_frame = T_base_cam * point_in_camera_frame;

#include <sophus/se3.hpp> #include <Eigen/Core> #include <iostream>

import matplotlib.pyplot as plt

Order matters. The rightmost transform is applied first to the point.

Create a Cube or Sphere. Move it above the plane. Select Rigid Body in the Physics Tab and leave it as Active . rigid3d tutorial

# Assuming you have a way to get the body's position over time # For simplicity, let's say we just want to plot the body's final position final_position = body.get_pose().position print(f"Final Position: final_position")

This tutorial will guide you through the core concepts, initialization, composition, inversion, and application of Rigid3D transformations. Move it above the plane

Before diving into the code, ensure you have Rigid3D installed in your development environment. If you haven’t installed it yet, you can do so via pip (assuming it’s available on PyPI):

using Sophus::SE3d; using Eigen::Vector3d; using Eigen::Quaterniond; Before diving into the code, ensure you have