concepts.math.frame_utils_xyzw.calc_ee_rotation_mat_from_directions# calc_ee_rotation_mat_from_directions(u, v)[source]# Compute the rotation matrix from two directions (the “down” direction for the end effector and the “forward” direction for the end effector). Parameters: u (Tuple[float, float, float] | List[float] | ndarray) – The “down” direction for the end effector. v (Tuple[float, float, float] | List[float] | ndarray) – The “forward” direction for the end effector. Return type: ndarray