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Use the following line to re-normalize the quaternion of a transform, usually required after multiplying multiple transforms

my_tf.setRotation(my_tf.getRotation().normalize());

Use the following line to re-normalize the quaternion of a transform, usually required after multiplying multiple transforms

my_tf.setRotation(my_tf.getRotation().normalize());

However, a more likely case is that you are trying to work with an uninitialized transform.

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