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unilab.envs.common.rotation.np_quat_to_axis_angle¶

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

Convert unit quaternion batch (N, 4), w-first, to axis-angle vectors (N, 3).

Adapted from PyTorch3D. Uses atan2 + Taylor expansion for numerical stability near zero rotation.