concepts.simulator.pybullet.rotation_utils

Functions

compose_transformation(pos1, quat1, pos2, quat2)	Compsoe two transformations.
compute_ee_quat_from_directions(u, v[, ...])	Compute the quaternion from two directions (the "down" direction for the end effector and the "forward" direction for the end effector).
compute_ee_rotation_mat_from_directions(u, v)	Compute the rotation matrix from two directions (the "down" direction for the end effector and the "forward" direction for the end effector).
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_diff_in_axis_angle(quat1, quat2)	Compute the difference between two quaternions (q1 - q2) in axis-angle representation.
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)