GitHub  •  LinkedIn  •  X  •  Discord

Telekinesis TF

A Python library for working with coordinate frames, transformations, and visualization. It includes:

• A TransformTree class for creating and managing transformation trees
• Utilities for converting between pose representations, including quaternions, Euler angles, and rotation vectors
• Visualization tools for frames using Rerun

Telekinesis TF is currently in its early development phase (pre-1.0). There will be continuous minor version updates that may introduce new data models and improvements. To ensure compatibility and have the latest features, please always install or upgrade to the latest version of the package..

Installation

1. Create an isolated environment to avoid dependency conflicts. We recommend installing Miniconda by following the instructions from here.

   conda create -n telekinesis-tf python=3.11
   

2. Activate the environment:

   conda activate telekinesis-tf
   

3. Install tf using pip:

pip install telekinesis-tf

Example

Run a sample Python script to quickly test your installation

from telekinesis.tf import tftree

tf_tree = tftree.TransformTree("world")
tf_tree.add("world", "new_frame", [0, 0, 1, 0, 0, 0], rot_type="deg")
tf_tree.visualize_rerun()

Resources

• Documentation coming soon!

Support

For issues and questions:

• Create an issue in the GitHub repository.
• Contact the Telekinesis development team at support@telekinesis.ai or on Discord.