> ## Documentation Index
> Fetch the complete documentation index at: https://docs.generalrobotics.dev/llms.txt
> Use this file to discover all available pages before exploring further.

# Pose

> A class to represent the pose (position and orientation) of the robot

```python theme={null}
from grid_types import Pose
```

A class to represent the pose (position and orientation) of the robot.

## Fields

<ResponseField name="position" type="Position">
  The position component of the pose.
</ResponseField>

<ResponseField name="orientation" type="Orientation">
  The orientation component of the pose.
</ResponseField>

## Constructor

```python Signature theme={null}
Pose(*args, **kwargs)
```

## Methods

### `from_dict()`

```python Signature theme={null}
from_dict(data: dict) -> Pose
```

Deserialize from dictionary.

<ParamField body="data" required>
  Dictionary containing pose data
</ParamField>

**Returns:**

Pose: Reconstructed pose object

### `to_dict()`

```python Signature theme={null}
to_dict() -> dict
```

Serialize to dictionary for JSON transfer.

**Returns:**

dict: Dictionary representation of the pose

### `to_matrix()`

```python Signature theme={null}
to_matrix() -> np.ndarray
```

Convert Pose to a 4x4 homogeneous transformation matrix.

**Returns:**

np.ndarray: 4x4 homogeneous transformation matrix


## Related topics

- [Overview](/simulation/isaac/teleoperation/overview.md)
- [Camera Calibration](/deployment/camera-calibration.md)
- [Customizing RL Training](/simulation/isaac/reinforcement-learning/customizing-training.md)
- [ROS2 Communication](/simulation/isaac/comms.md)
- [contact-graspnet](/models/cortex/contact-graspnet.md)