def euler_from_quaternion(x, y, z, w):
    t3 = ((+ 2.0) * ((w * z) + (x * y)))
    t4 = ((+ 1.0) - (2.0 * ((y * y) + (z * z))))
    yaw_z = math.atan2(t3, t4)
    return yaw_z
def euler_from_quaternion(x, y, z, w):
    t3 = ((+ 2.0) * ((w * z) + (x * y)))
    t4 = ((+ 1.0) - (2.0 * ((y * y) + (z * z))))
    yaw_z = math.atan2(t3, t4)
    return yaw_z