3d_rotation_conversion.py

import numpy as np
from scipy.spatial.transform import Rotation

# The given 3D rotation
euler = (45, 30, 60) # Unit: [deg] in the XYZ-order

# Generate 3D rotation object
robj = Rotation.from_euler('zyx', euler[::-1], degrees=True)

# Print other representations
print('\n## Euler Angle (ZYX)')
print(np.rad2deg(robj.as_euler('zyx'))) # [60, 30, 45] [deg] in the ZYX-order
print('\n## Rotation Matrix')
print(robj.as_matrix())
print('\n## Rotation Vector')
print(robj.as_rotvec())                 # [0.97, 0.05, 1.17]
print('\n## Quaternion (XYZW)')
print(robj.as_quat())                   # [0.44, 0.02, 0.53, 0.72]