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

.. currentmodule:: warp._src.lang

.. function:: quat_to_rpy(q: quatf) -> vec3f

   .. wp-function-tags::
      :kernel: true
      :python: true
      :differentiable: true
      :source: https://github.com/NVIDIA/warp/blob/release-1.18/warp/_src/math.py#L220-L250

   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: warp.vec3