concepts.simulator.pybullet.rotation_utils.frame_mul

frame_mul(pos_a, quat_a, a_to_b)

Multiply a frame with a transformation.

The frame is represented as a tuple of position and quaternion. The transformation is represented as a tuple of position and quaternion. The quaternion is represented as a 4-element array in the order of (x, y, z, w), which follows the convention of pybullet.