I tried to compute the Euler angles from the quaternion using this code:

```
def compute_euler_angles_from_quaternion(quaternions, sequence='xyz'):
"""
Convert a batch of quaternions to Euler angles.
Args:
quaternions: Tensor of shape (batch_size, 4). Batch of quaternions.
sequence: String specifying the rotation sequence. Default is 'xyz'.
Returns:
euler_angles: Tensor of shape (batch_size, 3). Batch of Euler angles.
"""
batch_size = quaternions.shape[0]
q = quaternions.detach().cpu().numpy() # Convert to NumPy array
rotations = Rotation.from_quat(q)
euler_angles = rotations.as_euler(sequence, degrees=False)
euler_angles = torch.tensor(euler_angles, device=quaternions.device)
euler_angles = euler_angles.view(batch_size, 3)
return euler_angles
```

But I got this issue when batch sizes = 1 or 2, or 16:

```
RuntimeError: shape '[4, 3]' is invalid for input of size 3
```

I tried to fix it using this code as I found some solution here:

```
def compute_euler_angles_from_quaternion(quaternions, sequence='xyz'):
batch_size = quaternions.shape[0] # Ensure that batch_size is correctly calculated
print("Batch size:", batch_size)
q = quaternions.detach().cpu().numpy() # Convert to NumPy array
rotations = Rotation.from_quat(q)
euler_angles = rotations.as_euler(sequence, degrees=False)
print("Shape of euler_angles:", euler_angles.shape)
if batch_size == 1:
euler_angles = euler_angles.reshape(1, -1) # Reshape single quaternion to (1, 3)
euler_angles = torch.tensor(euler_angles, device=quaternions.device)
assert batch_size == euler_angles.shape[0], "Mismatch in batch_size and euler_angles shape"
euler_angles = euler_angles.view(batch_size, 3) # Reshape to [batch_size, 3]
return euler_angles
```

I got this issue:

```
Batch size: 4
Shape of euler_angles: (3,)
Traceback (most recent call last):
File "test_quat.py", line 147, in <module>
euler = utils.compute_euler_angles_from_quaternion(
File "/home/redhwan/2/HPE/quat/utils.py", line 318, in compute_euler_angles_from_quaternion
assert batch_size == euler_angles.shape[0], "Mismatch in batch_size and euler_angles shape"
AssertionError: Mismatch in batch_size and euler_angles shape
```

I would like the model to work at any batch size.

Please help.