Suggestion: Two quaternion formats in your own API?

Omniverse Isaac Sim
1

Hi,

I noticed you’re using two quaternion formats in your surface-gripper example. Why? Is there some reason not to just pick one format and use it throughout your API? Even if you need to create some wrappers, it’ll save a lot of head-ache for users in the long-run.

Cheers,

-Dan

            # Box to be picked
            self.box_start_pose = dc.Transform([0, 0, 0.10], [1, 0, 0, 0])
            self.boxGeom = self.createRigidBody(
                UsdGeom.Cube, "/Box", 0.10, [0.1, 0.1, 0.1], self.box_start_pose.p, self.box_start_pose.r, [0.2, 0.2, 1]
            )

            # Reordering the quaternion to follow DC convention for later use.
            self.gripper_start_pose = dc.Transform([0, 0, 0.301], [0, 0, 0, 1])
            self.box_start_pose = dc.Transform([0, 0, 0.10], [0, 0, 0, 1])