# Description

As reported in [this
issue](https://github.com/NVIDIA-Omniverse/orbit/issues/252), we have a
mismatch between the behavior described in the documentation and the
actual behavior of `orbit.utils.math.axis_angle_from_quat`. We currently
only accept tensors of the form (N,4), but this PR allows us to accept
(...,4) as described. A corresponding change has been made to
`orbit.utils.math.quat_error_magnitude` as it is a reasonable extension
requested in the original issue.

I have also added tests for these functions.

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there