transform composition in tf with python

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The python TF library uses the transformations.py module which is really nice. If you haven't used it, the main idea is it uses 4x4 matrices to represent transformations and there are tons of functions for linear algebra and converting to different representations. It's really just a wrapper around numpy, but it does a good job.

To use it, I do from tf import transformations as t

The whole module is just that one file I linked to, the documentation/examples in the comments are really good.

It has t.inverse_matrix()instead of .inverse(). Also t.translation_from_matrix() will do what .getOrigin() does. And for .length() you would use t.vector_norm()

You can probably figure out the rest, if not I can help in the comments.