code: def quat_conjugate(quaternion):
      
      return np.array(
          (-quaternion[0], -quaternion[1], -quaternion[2], quaternion[3]),
          dtype=np.float32,
      )
docs: Return conjugate of quaternion.
      >>> q0 = random_quaternion()
      >>> q1 = quat_conjugate(q0)
      >>> q1[3] == q0[3] and all(q1[:3] == -q0[:3])
      True