Thanks for your response HawkME. With your answer I was able to find this page which really closed the gap for me. https://www.mecademic.com/ress…Euler-angles/Euler-angles It even has a visualizer to show what WPR angles will do do a frame.
I think I am going to have to go the matrix multiplication route to get the accuracy I'm looking for. I have a PLC in my cell as well that I will use to do the matrix multiplication and inverting to solve matrices for WPR values. I just have to keep in mind that Fanuc uses XYZ fixed orientation which is not very common in Euler angle tutorials.