In this project we will write a simulation of sensors installed on a rigid body

)For example, a drone, the end of a robot's arm, etc).

The goal is to calculate readings of all sensors based on the readings of one sensor
the sensors as well as based on the calibration data of the installations between the various
sensors.

The sensors can be position sensors, accelerometer, gyrometer, GPS.

Position sensors give a position relative to a local axis system that is determined now that
activate the sensor. Also, the sensor gives the rotation transformer of
the sensor in relation to the initial axis system.
Regarding rotation transformations there are several ways to describe it, in this project the
quaternion will be used.

It is important to emphasize, the task will be done based on the assumption that there is an
initial report in which each of the sensors determines its initial set of axes this means that
every change and report is based on the initial fixation of that sensor.

A code file is attached to the project in which there is an implementation of one stationary
axis system and two sensors that report a position relative to this system. In this system we
have readings of one sensor, and we want to know what the reading of the sensor is the
second.

The input: rotation and copy matrix calibration between the two sensors + position readings
and quaternion of one sensor.

.Output: position vector of second sensor

It is important to emphasize, the task will be done based on the assumption that there is an
.initial report in which each of the sensors determines its initial set of axes

This means that every change and report is based on the initial fixation of that sensor.

In this project, these are the tasks:

1. That the system described in this file is not as we usually encounter in reality. Usually
there is not one axis system that both sensors "know" but each sensor reports according to a
stationary (fixed) system which reboots itself (as soon as it "wakes up").

2. Another generalization We have two sensors as before but we want to calculate

one wave from the sensors the position and quaternion of the axis system of the rigid body.

3. We will generalize the last case to sensors that measure line speed and velocity angular in
addition to the position and quaternion and assume that the system of axes of the rigid body
it is the center of rotation, meaning that a rigid body always rotates when an axis the
rotation goes through the beginning of the body system and we have to calculate its speed
the line of the body is rigid.
NOTE: Attached are 2 CSV files of sensor readings from a certain system (one right and the
other left) with the calibration matrix between them:

,] .0 , .0 , .0 , .1-[[
,] .0 , .0 , .1 , .0 [
,]0.4126 , .1- , .0 , .0 [
]] .1 , .0 , . 0 , .0 [
Try to apply the theory to the real data.

Please do not use Jupiter or other frameworks that different that “.py”.