code: def euler_from_quaternion(quaternion, axes="sxyz"):
      """Return Euler angles from quaternion for specified axis sequence.
  
      >>> angles = euler_from_quaternion([0.99810947, 0.06146124, 0, 0])
      >>> numpy.allclose(angles, [0.123, 0, 0])
      True
  
      """
      return euler_from_matrix(quaternion_matrix(quaternion), axes)
  
imports: import math
  import numpy
label_desc: Use image node_id 22 for calling a global function with example usage: euler_from_quaternion(quaternion, axes) and returns: euler_from_matrix