Manipulate the sliders to change roll/pitch/yaw. It is also possible to input your own angles and hit the "set" button to update them
For an animation which does linear interpolation between two sets of Euler angles, choose an initial yaw/pitch/roll next to "orientation1" in the animation menu to the right, as well as a final orientation next to "orientation 2." You can also automatically fill in the angles corresponding to the current slider positions by clicking "set from current."
Click the "animate" button to perform linear interpolation between orientation 1 and orientation 2
Click the "display gimbals" checkbox to toggle displaying of the gimbals. This may make it easier to view the animation
To view the gimbals from a different point of view, left click and drag your mouse. To zoom, right click and drag. To translate, center click and drag