code: def from_axis_angle(axis, angle):
      
  
      sincomp = math.sin(angle / 2.0)
      return Quaternion(
        axis.x * sincomp, axis.y * sincomp,
        axis.z * sincomp, math.cos(angle / 2.0))
docs: Returns a #Quaternion that represents the right-handed
      rotation of *angle* radians about the givne *axis*.
  
      :param axis: The unit vector representing the axis of rotation.
      :param angle: The angle of rotation, in radians.