Mrs Beanbag on Nostr: right if you're using euler angles, which we're not. but regardless, any rotation can ...

right if you're using euler angles, which we're not. but regardless, any rotation can still be represented with at most 3 independent variables. the 4 variables in angle-axis representation are not independent if the axis is unit length (the axis itself is only 2 independent variables, in that case, up to sign, which can be transferred to the angle).

but if we are dealing with Lie groups, the actual rotations are obtained from infinitesimal generators through the exponential map.