Examples#

The following examples show how pytransform3d can be used.

Matplotlib Animations#

Animate Rotation

Animate Rotation

Animate Trajectory

Animate Trajectory

Quaternion Integration

Quaternion Integration

Interpolate Between Axis-Angle Representations

Interpolate Between Axis-Angle Representations

Interpolate Between Quaternion Orientations

Interpolate Between Quaternion Orientations

GUI Applications#

Transformation Editor

Transformation Editor

Matplotlib Figures#

Plot Transformation

Plot Transformation

Plot Bivector

Plot Vector

Plot Sphere

Sample Transforms

Sample Transforms

Construct Rotation Matrix from Two Vectors

Construct Rotation Matrix from Two Vectors

Quaternion Integration

Quaternion Integration

Axis-Angle Representation of Rotation

Axis-Angle Representation of Rotation

Transform Concatenation

Transform Concatenation

Plot Mesh

Axis-Angle Representation from Two Direction Vectors

Axis-Angle Representation from Two Direction Vectors

Camera Representation in 3D

Camera Representation in 3D

Spherical Grid

Pose Trajectory

Pose Trajectory

Plot with Respect to Different Reference Frames

Plot with Respect to Different Reference Frames

Robot

Euler Angles

URDF with Meshes

URDF with Meshes

Plot Transformed Cylinders

Plot Transformed Cylinders

Compare Various Definitions of Rotations

Compare Various Definitions of Rotations

Plot Multiple Spheres

Plot Multiple Spheres

URDF with Collision Objects

URDF with Collision Objects

Plot Box

Plot Transformation through Screw Motion

Plot Transformation through Screw Motion

Transformation Manager

Transformation Manager

Compare Rotation Sampling Methods

Compare Rotation Sampling Methods

Camera Projection

Camera Projection

Rotate Cylinder

Rotate Cylinder

Quaternion SLERP

Quaternion SLERP

Camera Transform

Camera Transform

Plot Straight Line Paths

Plot Straight Line Paths

Invert Uncertain Transform

Invert Uncertain Transform

Camera Trajectory

Camera Trajectory

Plot Random Geometries

Plot Random Geometries

URDF Joints

Convention for Rotation: Passive / Active, Extrinsic / Intrinsic

Convention for Rotation: Passive / Active, Extrinsic / Intrinsic

Concatenate Uncertain Transforms

Concatenate Uncertain Transforms

Managing Transformations over Time

Managing Transformations over Time

Dual Quaternion Interpolation

Dual Quaternion Interpolation

Fuse 3 Poses

3D Visualizations#

Visualize Sphere

Visualize Sphere

Visualize Ellipsoid

Visualize Ellipsoid

Visualize Coordinate Frame

Visualize Coordinate Frame

Visualize Cone

Visualize Capsule

Visualize Capsule

Visualize Vector

Visualize Vector

Scatter Plot

Visualize Plane

Visualize Plane

Plot Box

Visualize Mesh

Animate Rotation

Animate Rotation

Visualize Transformed Cylinders

Visualize Transformed Cylinders

Camera Representation in 3D

Camera Representation in 3D

Animate Line

URDF with Meshes

URDF with Meshes

Animated URDF with Meshes

Animated URDF with Meshes

Add and Remove Artist

Add and Remove Artist

Animate Trajectory

Animate Trajectory

Animated Robot

Visualize Cylinder with Wrench

Visualize Cylinder with Wrench

URDF Joints

Visualize Wrench

Visualize Wrench

Probabilistic Product of Exponentials

Probabilistic Product of Exponentials

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