Two chain objects with each 4 links, that i can use for testing. One is nice, each link aligned on xyz, the other one is not nice, each link unaligned, different rotation order etc. The latter has a white top, to check where z is. The rotation centers are visible through the colored arrows (red=x, green=y, blue=z). Perhaps you (or anybody else) have some use for them. I sometimes get the idea of converting a character's skeleton to eg blender or so and that is usually the time when i stumble over those euler angles (every time again:-)

(tried to use an image hoster for this post, if there seems to be no image, try  http://postimage.org/image/3r9p6eis/ )