<ul><li>Quaternions offer advantages in representing rotations and can be converted to rotation matrices.</li><li>Converting a rotation matrix to a quaternion involves using the Chiaverini-Siciliano method.</li><li>Quaternions and 3 by 3 matrices have three degrees of freedom each, despite differences in the number of components.</li><li>Python code snippets provided for converting between quaternions and rotation matrices, along with random testing for verification.</li></ul>

Converting between quaternions and rotation matrices

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