Converting roll,pitch,yaw to quaternion with transforms3d

rpy_to_quat.py

#!/usr/bin/env python
import math
import argparse
from transforms3d.euler import euler2quat, quat2euler

if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("roll", type=float)
    parser.add_argument("pitch", type=float)
    parser.add_argument("yaw", type=float)
    parser.add_argument(
        "--radians",
        action="store_true",
        help="Pass this argument if your values for rpy are in radians",
    )

    args = parser.parse_args()

    if not args.radians:
        args.roll = math.radians(args.roll)
        args.pitch = math.radians(args.pitch)
        args.yaw = math.radians(args.yaw)

    quat = euler2quat(args.roll, args.pitch, args.yaw)

    print("Output format for quaternion is wxyz")
    print(quat)