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Solve the following problem using Python, implementing the functions described below, one line at a time
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Description:
 def rotation_from_quaternion(q_wxyz):
 """Convert quaternion array to rotation matrix. Parameters q_wxyz : :obj:`numpy.ndarray` of float A quaternion in wxyz order. Returns ------- :obj:`numpy.ndarray` of float A 3x3 rotation matrix made from the quaternion. """

        q_xyzw = np.array([q_wxyz[1], q_wxyz[2], q_wxyz[3], q_wxyz[0]])
        R = transformations.quaternion_matrix(q_xyzw)[:3,:3]
        return R