code: def rpy(self):
      
  
      x, y, z, w = self.x, self.y, self.z, self.w
      roll = math.atan2(2*y*w - 2*x*z, 1 - 2*y*y - 2*z*z)
      pitch = math.atan2(2*x*w - 2*y*z, 1 - 2*x*x - 2*z*z)
      yaw = math.asin(2*x*y + 2*z*w)
      return (roll, pitch, yaw)
docs: Calculates the Roll, Pitch and Yaw of the Quaternion.