[Python] Disagreement between SciPy quaternion and Wolfram

Discussão em 'Python' iniciado por Stack, Fevereiro 27, 2025.

  1. Stack

    Stack Membro Participativo

    I'm calculating rotation quaternions from Euler angles in Python using SciPy and trying to validate against an external source (Wolfram Alpha).

    This Scipy code gives me one answer:

    from scipy.spatial.transform import Rotation as R

    rot = R.from_euler('xyz', [30,45,60], degrees=1)
    quat = rot.as_quat()
    print(quat[3], quat[0], quat[1], quat[2]) # w, x, y, z

    (w,x,y,z) = 0.8223, 0.0222, 0.4396, 0.3604


    while Wolfram Alpha gives a different answer

    (w,x,y,z) = 0.723, 0.392, 0.201, 0.532


    [​IMG]

    Why the difference? Is it a difference in paradigm for how the object is rotated (ex. extrinsic rotations vs. intrinsic rotations)?

    Continue reading...

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