concepts.math.frame_utils_xyzw.solve_ee_from_tool

solve_ee_from_tool(target_tool_pos, target_tool_quat, ee_to_tool)

Solve for the end-effector position and orientation given the tool position and orientation.

Parameters:

• target_tool_pos (Tuple[float, float, float] | List[float] | ndarray)

• target_tool_quat (Tuple[float, float, float, float] | List[float] | ndarray)

• ee_to_tool (Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray])

Return type:

Tuple[ndarray, ndarray]