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].
Back to basics 7 - Equal NaNs
Create a square matrix of multiples
How long do each of the stages of the rocket take to burn?
Homogeneous lines and points in 2D: problem 1
Pose interpolation in 2D
Relative points in 2D: problem 3
Orientation of a 3D coordinate frame
Composing relative poses in 2D: problem 2
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