concepts.simulator.pybullet.rotation_utils_torch.th_quat_mul

th_quat_mul(quat1, quat2, *args)

Multiply two quaternions. The quaternions are represented as 4D vectors, in the form of [x, y, z, w].

Parameters:

• quat1 (Tensor) – a tensor of shape (…, 4).

• quat2 (Tensor) – a tensor of shape (…, 4).

• *args (Tensor) – additional tensors of shape (…, 4).

Returns:

A tensor of shape (…, 4).

Return type:

Tensor