title: How to use Scipy Rotation for transforming Orientations between Coordinate Systems with the help of euler angles?
body: <p>So lets assume my body has the following extrinsic orientation in the Coordinate System A:</p>
  <pre><code>A = [20,30,40] # extrinsic xyz in degrees
  </code></pre>
  <p>And the following Orientation in the Coordinate System B:</p>
  <pre><code>B = [10, 25, 50]
  </code></pre>
  <p>So the transformation from A to B is:</p>
  <pre><code>T = [-10, -5, 10]
  </code></pre>
  <p>So that:</p>
  <pre><code>B = A + T
  </code></pre>
  <p>Now I want to do the same using scipy.Rotation:</p>
  <pre><code>from scipy.spatial.transform import Rotation
  
  A = Rotation.from_euler('xyz' ,[20, 30, 40], degrees=True)
  B = Rotation.from_euler('xyz', [10, 25, 50], degrees=True)
  T = Rotation.from_euler('xyz', [-10, -5, 10], degrees=True)
  result =  A  * T # This seems to be wrong?
  
  print(result.as_euler('xyz', degrees=True)) # Output: [14.02609598 21.61478378 48.20912092]
  </code></pre>
  <p>Where is my mistake here? What am I doint wrong. I need to use scipy rotation because, I will apply that same rotation given in euler angles on quaternions too.</p>