Rotation

1 0 0 0

Rx(q) = 0 cosq -sinq 0

0 sinq cosq 0

0 0 0 1

cosq 0 sinq 0

Ry(q) = 0 1 0 0

-sinq 0 cosq 0

0 0 0 1

cosq -sinq 0 0

Rz(q) = sinq cosq 0 0

0 0 1 0

0 0 0 1

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