I want to transform a pose around origin. The pose I have contains a position [x,y,z] and an orientation [x,y,z,w] represented as a quaternion. I have a 4x4 transformation matrix which I use to translate and rotate the position of the pose around origin.
np.dot(transforma_mat, np.transpose(np.append(pose.position, 1)))
So, as the origin moves and rotates, the starting point of the pose also moves and rotates. However, I am not sure how I can rotate the orientation of the pose.
I can convert the quaternion to Euler angles and rotation matrix (and vice versa) using this library.
The story: There is an object which moves and rotates. The robot end-effector has a pose before the object moves and rotates. I want to update the pose of the end-effector such that it moves and rotates with the object.
The general way to translate an object with respect to another object's movement can be found here.
Try to convert the rotations to matrices. Euler angles didn't work for me.