concepts.simulator.pybullet.rotation_utils.quat_diff_in_axis_angle

quat_diff_in_axis_angle(quat1, quat2)

Compute the difference between two quaternions (q1 - q2) in axis-angle representation.

Note that since the difference is computed as q1 - q2, for conventional usage of computing the difference between the source and target, the order should be quat_diff_in_axis_angle(target, source).