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I think this page will be helpful for you: http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/index.htm

In the same page, you can also find other kind of angle conversions.

I think this page will be helpful for you: http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/index.htm

(At the end of the page there is a tool for angles conversion) In the same page, you can also find other kind of angle conversions.

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