title: Most efficient Pybullet.getBasePositionAndOrientation vector conversion
body: <p>What is the best way to convert the orientation from</p>
  <p><code>pybullet.getBasePositionAndOrientation</code></p>
  <p>to a vector in xyz axis representation in python?
  I could only find limited documentation  so far on this issue, thanks for any insight.</p>