warp.quat\_to\_rpy
==================

.. function:: warp._src.lang.quat_to_rpy(q: quatf) -> vec3f

   .. hlist::
      :columns: 8

      * Kernel
      * Differentiable

   Convert a quaternion to roll-pitch-yaw angles (ZYX convention).
   
   The output is ``(roll, pitch, yaw)`` in radians using extrinsic rotations
   about X, Y, and Z respectively.
   
   :param q: Input quaternion in ``(x, y, z, w)`` order.
   
   :returns: ``(roll, pitch, yaw)`` in radians.
   :rtype: wp.vec3