import math
import numpy as np
from pyquaternion import Quaternion

def quaternion_to_euler_zyx(q):
    """
    Convert quaternion to Z-Y-X Euler angles.

    Parameters
    ----------
    q : Quaternion
        Quaternion (in pyquaternion format)

    Returns
    -------
    np.array
        Z-Y-X Euler angles
    """

    # roll : rotation around x-axis
    sinr_cosp = 2 * (q[0] * q[1] + q[2] * q[3])
    cosr_cosp = 1 - 2 * (q[1] * q[1] + q[2] * q[2])
    roll = math.atan2(sinr_cosp, cosr_cosp)

    # pitch : rotation around y-axis
    sinp = 2 * (q[0] * q[2] - q[3] * q[1])
    if math.fabs(sinp) >= 1:
        pitch = math.copysign(math.pi / 2, sinp)
    else:
        pitch = math.asin(sinp)

    # yaw : rotation around z-axis
    siny_cosp = 2 * (q[0] * q[3] + q[1] * q[2])
    cosy_cosp = 1 - 2 * (q[2] * q[2] + q[3] * q[3])
    yaw = math.atan2(siny_cosp, cosy_cosp)

    # Euler angles
    return np.array([
        math.degrees(roll), 
        math.degrees(pitch), 
        math.degrees(yaw)
    ])

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

def quaternion_to_euler_zyx(q):
    r = R.from_quat([q[0], q[1], q[2], q[3]])
    return r.as_euler('zyx', degrees=True)