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To convert from a numpy array to a Quaternion message type, it's just:

q = numpy.array([.5, .5, .5, .5])
from geometry_msgs.msg import Quaternion
pub.publish(Quaternion(*q))

Converting from the message type to a numpy array is harder and I could never find a provided function, so I usually do:

xyzw_array = lambda o: numpy.array([o.x, o.y, o.z, o.w])
print xyz_array(msg.pose.orientation)