code: def to_quaternion(roll = 0.0, pitch = 0.0, yaw = 0.0):
      
      t0 = math.cos(math.radians(yaw * 0.5))
      t1 = math.sin(math.radians(yaw * 0.5))
      t2 = math.cos(math.radians(roll * 0.5))
      t3 = math.sin(math.radians(roll * 0.5))
      t4 = math.cos(math.radians(pitch * 0.5))
      t5 = math.sin(math.radians(pitch * 0.5))
  
      w = t0 * t2 * t4 + t1 * t3 * t5
      x = t0 * t3 * t4 - t1 * t2 * t5
      y = t0 * t2 * t5 + t1 * t3 * t4
      z = t1 * t2 * t4 - t0 * t3 * t5
  
      return [w, x, y, z]
docs: Convert degrees to quaternions