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You can find the API you're looking for in here:

http://docs.ros.org/melodic/api/tf/html/python/transformations.html

The function you need is called:

tf.transformations.quaternion_from_matrix(matrix)

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You can find the API you're looking for in here:

http://docs.ros.org/melodic/api/tf/html/python/transformations.html

The function you need is called:

tf.transformations.quaternion_from_matrix(matrix)

tf.transformations.quaternion_from_matrix(matrix)