OpenRAVE: Given a transform 2D list of an object it will return back the translation and rotation as separated XML elements to be used in an environment.xml file.

get_translation_and_rotation_xml.py

def get_xml(arr):
    rotation = "<RotationMat>"
    for row in range(0, 3):
        for col in range(0, 3):
            rotation += str(arr[row, col])
            if row != 2 or col != 2:  rotation += " " 
    rotation += "</RotationMat>"

    translation = "<Translation>"
    for row in range(0, 3):
        translation += str(arr[row][3])
        if row != 2: translation += " " 
    translation += "</Translation>"

    combined = translation + "\n" + rotation
    print combined