How to use the pytransform3d.rotations.matrix_from_quaternion function in pytransform3d

P : array-like, shape (n_steps, 7)
        Sequence of poses represented by positions and quaternions in the
        order (x, y, z, w, vx, vy, vz) for each step

    Returns
    -------
    H : array-like, shape (n_steps, 4, 4)
        Sequence of poses represented by homogeneous matrices
    """
    n_steps = len(P)
    H = np.empty((n_steps, 4, 4))
    H[:, :3, 3] = P[:, :3]
    H[:, 3, :3] = 0.0
    H[:, 3, 3] = 1.0
    for t in range(n_steps):
        H[t, :3, :3] = matrix_from_quaternion(P[t, 3:])
    return H

def transform_from_pq(pq):
    """Conversion from position and quaternion to homogeneous matrix.

    Parameters
    ----------
    pq : array-like, shape (7,)
        Position and orientation quaternion: (x, y, z, qw, qx, qy, qz)

    Returns
    -------
    A2B : array-like, shape (4, 4)
        Transform from frame A to frame B
    """
    pq = check_pq(pq)
    return transform_from(matrix_from_quaternion(pq[3:]), pq[:3])

Each component of the translation will be sampled from
    :math:`\mathcal{N}(\mu=0, \sigma=1)`.

    Parameters
    ----------
    random_state : np.random.RandomState, optional (default: random seed 0)
        Random number generator

    Returns
    -------
    A2B : array-like, shape (4, 4)
        Random transform from frame A to frame B
    """
    q = random_quaternion(random_state)
    R = matrix_from_quaternion(q)
    p = random_vector(random_state, n=3)
    return transform_from(R=R, p=p)