Which comes from Euler’s Rotation Theorem. [θ, w1, w2, w3]- θ : A rotation angle, how much to rotate around that axis- w1, w2, w3 : A unit vector, euler axis(the rotation axis) Any rotation of a rigid body around a fixed point is equivalent to a single rotation about a fixed axis by some angle θ. In other words, Instead of thinking of a 3D rotation as a sequence of yaw-pitch-roll (Euler angles),..