code: def rotation_matrix(self, mat):
      assert isinstance(mat, np.ndarray)
      assert mat.shape == (4, 4)
      quat = transformations.quaternion_from_matrix(mat).astype(
          np.float32
      )
      self.quaternion = quat
  
imports: import numpy
  from geometry import transformations
label_desc: Use image node_id 5 for calling the Rotation obj's underlying member method code with example usage: obj.rotation_matrix(mat) without return types