The variable name rpy suggests that the order is [roll, pitch, yaw], but that's not correct, is it?
Oh, I see. You have defined the yaw to be around the x-axis, and the roll to be around the z-axis. But there is still a problem with test case 4. I think it should be [-1,-2,0] rather than [1,-2,0].
Make an N-dimensional Multiplication Table
Penny Flipping: Reverse subsets of a sequence of coins until you recover the original configuration
Invert a 3D rigid-body transformation
Invert a 3D rotation matrix
Relative points in 2D: problem 3
Twists in 2D
Relative points in 2D: problem 2
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