Remove old nalgebra bug workaround.

crates/optik-py/src/lib.rs

@@ -1,6 +1,6 @@
 use optik::{Robot, SolverConfig};
 
-use nalgebra::{Isometry3, Matrix4, Rotation3, Translation3, UnitQuaternion};
+use nalgebra::{Isometry3, Matrix4, Translation3, UnitQuaternion};
 use pyo3::prelude::*;
 
 #[pyclass]
@@ -96,16 +96,9 @@ impl PyRobot {
             let m = Matrix4::from_iterator(v.into_iter().flatten()).transpose();
 
             let t = Translation3::from(m.fixed_view::<3, 1>(0, 3).into_owned());
+            let r = UnitQuaternion::from_matrix(&m.fixed_view::<3, 3>(0, 0).into_owned());
 
-            // Some rotational gymnastics here to work around an nalgebra bug
-            // (fixed in 0.31) which fails on direct conversion from Matrix3 ->
-            // UnitQuaternion for inputs that are already a rotation matrix.
-            // https://github.com/dimforge/nalgebra/pull/1101
-            let g = m.fixed_view::<3, 3>(0, 0).into_owned();
-            let r = Rotation3::from_matrix_unchecked(g);
-            let q = UnitQuaternion::from_rotation_matrix(&r);
-
-            Isometry3::from_parts(t, q)
+            Isometry3::from_parts(t, r)
         }
 
         let target = parse_pose(target);