How to use the pytransform3d.editor.PositionEulerEditor function in pytransform3d

def _create_main_frame(self):
            """Create main frame and layout."""
            self.main_frame = QtGui.QWidget()

            self.frame_editor = PositionEulerEditor(
                self.base_frame, self.xlim, self.ylim, self.zlim)
            self.connect(self.frame_editor, QtCore.SIGNAL("frameChanged()"),
                         self._on_update)

            frame_selection = self._create_frame_selector()

            plot = self._create_plot()

            vbox = QtGui.QVBoxLayout()
            vbox.addWidget(self.frame_editor)
            vbox.addWidget(frame_selection)
            vbox.addWidget(plot)

            main_layout = QtGui.QHBoxLayout()
            main_layout.addLayout(vbox)

def __init__(self, base_frame, xlim, ylim, zlim, parent=None):
            super(PositionEulerEditor, self).__init__(parent)

            self.dim_labels = ["x", "y", "z", "X", "Y'", "Z''"]
            self.limits = [xlim, ylim, zlim,
                           (-3.141, 3.141), (-1.570, 1.570), (-3.141, 3.141)]
            self.n_slider_steps = [int(100 * (upper - lower)) + 1
                                   for lower, upper in self.limits]
            self.setLayout(self._create(base_frame))