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unilab.envs.common.rotation.np_matrix_first_two_cols_from_quat¶

unilab.envs.common.rotation.np_matrix_first_two_cols_from_quat(q)[source]¶

Return flattened first two rotation-matrix columns for quaternions (…, 4).

The output order matches np_matrix_from_quat(q)[:, :, :2].reshape(..., 6).