Example

import numpy as np
import idyntree.bindings as idyn


def get_rotation():
    H = idyn.Transform()

    pos = idyn.Position().FromPython(np.ones(3))
    R = idyn.Rotation().FromPython(np.eye(3))

    H.setPosition(pos)
    H.setRotation(R)

    R2 = idyn.Rotation()

    return R2


if __name__ == "__main__":
    R = idyn.Rotation()

    R = get_rotation()

    print(R.toNumPy())