I created a simple command line utility [1] to convert between rotation representations. If anyone has ever dealt with 3D rotations (e.g., euler angles, quaternions, rotation matrices) you probably know that it can be frustrating to know what conventions people are using, especially with euler angles (e.g., intrinsic, extrinsic, passive, active, etc.). So I made a tool where you can explicitly set those conventions with explanations on what they all mean.

I regular refer back to the README myself or test out some conventions with the tool.

[1] https://github.com/kam3k/euler