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Standardize coordinate schemes - #1

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WillB97 wants to merge 8 commits into
PeterJCLaw:fix-spherical-coordinatesfrom
WillB97:fix-yaw_pitch_roll
Open

Standardize coordinate schemes#1
WillB97 wants to merge 8 commits into
PeterJCLaw:fix-spherical-coordinatesfrom
WillB97:fix-yaw_pitch_roll

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