Define new orientation of the robot by two points

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Define new orientation of the robot by two points

anton
I have a robot. At some moment in time its end effector is in point P1 (x1, y1, z1) and has some orientation. I have another determined point in space, say P2 (x2, y2, z2). I want to find a new rotation matrix to let the robot look at this point P2. How can I do it? Should I do it per hand or there is a function for this case? Thanks!