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並前往http://docs.ros.org/en/noetic/api/sot-tools/html/quaternion_8py_source.html

sot-tools: quaternion.py Source File - ROS Documentation

101 # From a to 2 dimension array convertible array, matrix, tuple or list with at least (3*3) elements. 102 # interpreted as a rotation matrix. 103 rM ...

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