concepts.simulator.pybullet.rotation_utils#

Functions

compose_transformation(pos1, quat1, pos2, quat2)

Compsoe two transformations.

enumerate_quaternion_from_vectors(...[, ...])

find_orthogonal_vector(v)

Find an orthogonal vector to the given vector.

frame_inv(pos_b, quat_b, a_to_b)

Inverse a frame with a transformation.

frame_mul(pos_a, quat_a, a_to_b)

Multiply a frame with a transformation.

getQuaternionFromMatrix(mat)

Convert Rotation Matrix to Quaternion.

get_ee_to_tool(client, robot_id, ee_id, tool_id)

Get the transformation from the end-effector to the tool that the robot is currently holding.

get_quaternion_from_axes(x, y, z)

Converts a rotation matrix to a quaternion.

get_quaternion_from_matrix(mat)

Convert a rotation matrix to a quaternion.

get_transform_a_to_b(pos1, quat1, pos2, quat2)

Get the transformation from frame A to frame B.

inverse_transformation(pos, quat)

Inverse a transformation.

normalize_vector(v)

Normalize a vector.

patch_pybullet()

quat_conjugate(q)

quat_mul(q0, q1, *args)

quaternion_from_vectors(vec1, vec2)

Create a rotation quaternion q such that q * vec1 = vec2.

rotate_vector(vec, quat)

Rotate a vector by a quaternion.

rotate_vector_batch(batch_vector, quat)

Rotate a batch of vectors by a quaternion.

rpy(r, p, y[, degree])

Create a quaternion from euler angles.

solve_ee_from_tool(target_tool_pos, ...)

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

solve_tool_from_ee(ee_pos, ee_quat, ee_to_tool)