Transform

from tdw.object_data.transform import Transform

Positional data for an object, robot body part, etc.

Fields

position The position vector of the object as a numpy array: [x, y, z] The position of each object is the bottom-center point of the object. The position of each Magnebot body part is in the exact center of the body part. y is the up direction.
rotation The rotation quaternion of the object as a numpy array: [x, y, z, w] See: tdw.quaternion_utils.QuaternionUtils.
forward The forward directional vector of the object as a numpy array: [x, y, z]

Transform(position, rotation, forward)

Parameter	Type	Description
position	np.array	The position vector of the object as a numpy array.
rotation	np.array	The rotation quaternion of the object as a numpy array.
forward	np.array	The forward directional vector of the object as a numpy array.