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Add sanity check for Euler/Quaternion angles for external orientations

Reason why this change is needed

External orientations should only be used with Quaternion orientation values. Using Euler angles is not supported, but currently there is no error message raised if Euler angles are used. A sanity check should be added to external orientation pipeline to check the type of the orientation input.

Description of the change

A sanity check is added to external orientation file reading and an error is raised when Euler angles are detected in the input.

Related to #1370 (closed)

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