def rotation_angles(m):
 x = np.arctan2(m[(2, 1)], m[(2, 2)])
 c2 = np.sqrt(((m[(0, 0)] ** 2) + (m[(1, 0)] ** 2)))
 y = np.arctan2((- m[(2, 0)]), c2)
 s1 = np.sin(x)
 c1 = np.cos(x)
 z = np.arctan2(((s1 * m[(0, 2)]) - (c1 * m[(0, 1)])), ((c1 * m[(1, 1)]) - (s1 * m[(1, 2)])))
 return (x, y, z)

def rotation_angles ( m ) : x = np . arctan2 ( m [ ( 2 , 1 ) ] , m [ ( 2 , 2 ) ] ) c2 = np . sqrt ( ( ( m [ ( 0 , 0 ) ] ** 2 ) + ( m [ ( 1 , 0 ) ] ** 2 ) ) ) y = np . arctan2 ( ( - m [ ( 2 , 0 ) ] ) , c2 ) s1 = np . sin ( x ) c1 = np . cos ( x ) z = np . arctan2 ( ( ( s1 * m [ ( 0 , 2 ) ] ) - ( c1 * m [ ( 0 , 1 ) ] ) ) , ( ( c1 * m [ ( 1 , 1 ) ] ) - ( s1 * m [ ( 1 , 2 ) ] ) ) ) return ( x , y , z )
find rotation angles from a transformation matrix .