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That is X-Y-Z-Roll-Pitch-Yaw (Roll,Pitch,Yaw is rotation around the X-axis, Y-axis, Z-axis in that respective order).

That is X-Y-Z-Roll-Pitch-Yaw (Roll,Pitch,Yaw is rotation around the X-axis, Y-axis, Z-axis in that respective order).

Also, in hindsight, this is a Gazebo question. Should see the forum: https://answers.gazebosim.org//questions/

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