Python中如何为旋转叠加绕Y轴-90度欧拉旋转得到正确四元数

• 输入：未归一化的轴角（axis rotation）旋转量
• 输出：四元数（quaternion）格式的旋转结果，输出结果需要额外叠加绕Y轴旋转-90度的欧拉（euler）旋转

#!/usr/bin/env python3

#from math import radians, degrees, cos, sin, atan2, asin, pow, floor
#import numpy as np
from scipy.spatial.transform import Rotation

# 基础转换逻辑：轴角转四元数 r = Rotation.from_rotvec(rotation_by_axis).as_quat()
r = Rotation.from_quat([-0.0941422, 0.67905384, -0.2797612, 0.67212856]) # 测试用例
print("输入（欧拉角形式）: " + str(r.as_euler('xyz', degrees=True)))
print("输出（欧拉角形式）: " + str(r.apply([0, -90, 0])))

运行结果：

输入（欧拉角形式）: [-83.23902624  59.33323676 -98.88314731]
输出（欧拉角形式）: [-22.33941658 -74.31676511  45.58474405]

上述代码输出不符合预期，期望输出为[-83.23902624 -30.66676324 -98.88314731]，需要找到正确的实现方法。

目前的临时方案仅在部分场景下生效，失效原因未知：

rotation = r.from_quat([rotation.x, rotation.y, rotation.z, rotation.w])
rotation = rotation.as_euler('xyz', degrees=True)
print(rotation)
rotation = r.from_euler('xyz', [rotation[0], rotation[1]-90, rotation[2]], degrees=True)
print(rotation.as_euler('xyz', degrees=True))
rotation = rotation.as_quat()

该方案稳定性不足，部分场景会返回错误值，多组测试结果如下：

[  -8.25897711  -16.54712028    -1.90525288]
[ 171.74102289  -73.45287972   178.09474712]

[  -7.18492129   22.22525264     0.44373851]
[  -7.18492129  -67.77474736     0.44373851]

[   7.52491766  -37.71896037   -40.86915413]
[-172.47508234  -52.28103963   139.13084587]

[  -1.79610826   37.83068221    31.20184248]
[  -1.79610826  -52.16931779    31.20184248]

[-113.5719734   -54.28744892   141.73007557]
[  66.4280266   -35.71255108   -38.26992443]

[ -83.23903078   59.33323752   -98.88315157]
[ -83.23903078  -30.66676248   -98.88315157]

[  -9.67960912   -7.23784945    13.56800885]
[ 170.32039088  -82.76215055  -166.43199115]

[  -6.21695895    5.66996884   -11.16152822]
[  -6.21695895  -84.33003116   -11.16152822]

[   0.            0.             0.        ]
[   0.          -90.             0.        ]

[   0.            0.             0.        ]
[   0.          -90.             0.        ]

错误结果样例：

[  -8.25897711  -16.54712028    -1.90525288]
[ 171.74102289  -73.45287972   178.09474712]

正确结果样例：

[  -7.18492129   22.22525264     0.44373851]
[  -7.18492129  -67.77474736     0.44373851]

该功能用于ROMP项目的位姿处理环节。

内容的提问来源于stack exchange，提问作者Sukombu