#NEWLINE# def euler_from_quaternion( quaternion , axes = 'sxyz' ) : #NEWLINE# #INDENT# 'Return Euler angles from quaternion for specified axis sequence.\n\n    >>> angles = euler_from_quaternion([0.99810947, 0.06146124, 0, 0])\n    >>> numpy.allclose(angles, [0.123, 0, 0])\n    True\n\n    ' #NEWLINE# return euler_from_matrix ( quaternion_matrix ( axes ) , axes )