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

np.set_printoptions(precision=4, suppress=True)

rotation = R.from_euler("zyx", [45, 20, 10], degrees=True)

quat_xyzw = rotation.as_quat()
matrix = rotation.as_matrix()
rotvec = rotation.as_rotvec()

print("Euler zyx degrees:")
print(rotation.as_euler("zyx", degrees=True))

print("\nQuaternion xyzw:")
print(quat_xyzw)

print("\nQuaternion wxyz:")
print(rotation.as_quat(scalar_first=True))

print("\nRotation matrix rows:")
for row in matrix:
    print(row)

print("\nRotation vector radians:")
print(rotvec)

print("\nRound-trip checks:")
print("from_quat :", R.from_quat(quat_xyzw).approx_equal(rotation, atol=1e-12))
print("from_matrix:", R.from_matrix(matrix).approx_equal(rotation, atol=1e-12))
print("from_rotvec:", R.from_rotvec(rotvec).approx_equal(rotation, atol=1e-12))