rotm = [ 9.9298644353900856e-01 5.7599874553531990e-03 1.1808787191014013e-01;
-3.1281206413638456e-03 9.9974283502251204e-01 -2.2460602894922056e-02;
-1.1818687663613318e-01 2.1933681078753778e-02 9.9274910013826301e-01];
eulZYX = rotm2eul(rotm)
rotmZYX = eul2rotm([ -0.0032 0.0 0.0221])