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I'd highly recommend taking a look at PyKDL, which is part of the KDL library <orocos.org kdl=""> or <ros.org wiki="" kdl="">. It has well tested support for working with quaternions, Euler angles, axis-angle, etc.

I'd highly recommend taking a look at PyKDL, which is part of the KDL library ~~<orocos.org kdl="">~~ here or ~~<ros.org wiki="" kdl="">.~~ here. It has well tested support for working with quaternions, Euler angles, axis-angle, etc.

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