How to use the math3d.Orientation function in math3d

def set_orientation(self, orient, acc=0.01, vel=0.01, wait=True, threshold=None):
        """
        set tool orientation using a orientation matric from math3d
        or a orientation vector
        """
        if not isinstance(orient, m3d.Orientation):
            orient = m3d.Orientation(orient)
        trans = self.get_pose()
        trans.orient = orient
        self.set_pose(trans, acc, vel, wait=wait, threshold=threshold)

def set_orientation(self, orient, acc=0.01, vel=0.01, wait=True, threshold=None):
        """
        set tool orientation using a orientation matric from math3d
        or a orientation vector
        """
        if not isinstance(orient, m3d.Orientation):
            orient = m3d.Orientation(orient)
        trans = self.get_pose()
        trans.orient = orient
        self.set_pose(trans, acc, vel, wait=wait, threshold=threshold)