Convert a 4x4 transformation matrix to position and quaternion.
The quaternion is represented as a 4-element array in the order of (x, y, z, w), which follows the convention of pybullet.
- Parameters:
mat (ndarray)
- Return type:
Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray]