[Numpy-discussion] Matrix dot product over an axis(for a 3d array/list of matrices)

Hello, I have a list of 4x4 transformation matrices, that I want to "dot with" another list of the same size (elementwise). Making a for loop that calculates the dot product of each is extremely slow, I thought that maybe it's due to the fact that I have thousands of matrices and it's a python for loop and there's a high Python overhead. I do something like this:

...

for a,b in izip(Rot,Trans): c.append(numpy.dot(a,b))

Is there a way to do this in one instruction? Or is there a way to do this all using weave.inline? -- Emmanuel