@spiceErrorCheck<EOL>def xf2rav(xform):
xform = stypes.toDoubleMatrix(xform)<EOL>rot = stypes.emptyDoubleMatrix()<EOL>av = stypes.emptyDoubleVector(<NUM_LIT:3>)<EOL>libspice.xf2rav_c(xform, rot, av)<EOL>return stypes.cMatrixToNumpy(rot), stypes.cVectorToPython(av)<EOL>
This routine determines the rotation matrix and angular velocity
of the rotation from a state transformation matrix.
http://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/xf2rav_c.html

:param xform: state transformation matrix 
:type xform: list[6][6]
:return:
        rotation associated with xform,
        angular velocity associated with xform.
:rtype: tuple