How to use Euler sequences

I'm trying to write a LISP function to let me add Coordinate Systems with Body Euler Sequences using Pitch, Yaw, Roll.

So far I can create a coordinate system and set an offset it, but I can't seem to rotate it using LISP calls.

Is this even close or is there a something completely different that does the same thing?

Thanks,

Damion

(use-package :oli)

(defun create-cs-pyr (frame-name owner-path parent-cs x y z pitch yaw roll)

(let ( (frame-path nil) (frame-obj nil)(origin nil) (x-dir nil) (y-dir nil) (z-dir nil))

(pos_create_coordinate_system :owner owner-path :name frame-name :u_name "x" :v_name "y"

:w_name "z" :by_ref_coord_sys :ref_coord_sys parent-cs :offset_u x :offset_v y :offset_w z

:done)

(complete)

(setq frame-path (concatenate 'string owner-path "/" frame-name))

(setq frame-obj (sd-pathname-to-obj frame-path))

(setq origin (getf (sd-inq-coord-sys-elem-value frame-obj :origin t ) :origin))

(setq y-dir (getf (sd-inq-coord-sys-elem-value frame-obj :y-axis t ) :y-axis))

;; How to get this to work or something similar? Once the coordinate system is rotated about the y-axis (Pitch), I'd like to query the new orientation and

;; do the yaw and roll?

(pos_create_coordinate_system :action :position :coord_sys frame-obj :rotate :axis :pt_dir origin (second y-dir) :rotation_angle (sd-deg-to-rad pitch) complete)

(setq z-dir (getf (sd-inq-coord-sys-elem-value frame-obj :z-axis t ) :z-axis ))

(setq x-dir (getf (sd-inq-coord-sys-elem-value frame-obj :x-axis t ) :x-axis ))

)

)