code: def test_mult(M1, q1, M2, q2):
      # Test that quaternion * same as matrix *
      q21 = nq.mult(q2, q1)
      assert_array_almost_equal, M2 @ M1, nq.quat2mat(q21)
  
imports: import numpy
  import pytest
  from numpy import pi
  from numpy.testing import assert_array_almost_equal, assert_array_equal
  from ..None import eulerangles
  from ..None import quaternions
label_desc: Use image node_id 12 for calling a global function with example usage: test_mult(M1, q1, M2, q2) without return types