Feature request for different Euler angle conventions

[mjo22]

Hello! I would like to make a feature request for converting and instantiating SO3 objects to and from different euler angle conventions.

This proposal could replace SO3.from_rpy_radians with SO3.from_euler_radians, and similarly for SO3.as_rpy_radians. This new method could have a “convention” optional argument, which specifies the sequence of rotations. It could follow from the from_euler and as_euler methods here: https://jax.readthedocs.io/en/latest/_autosummary/jax.scipy.spatial.transform.Rotation.html