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].
given 3 sides, find area of this triangle
Similar Triangles - find the height of the tree
Is the Point in a Triangle?
Some Assembly Required
Composing relative poses in 2D: problem 2
Create a 3D rotation matrix
Relative points in 2D: problem 1
Composing relative poses in 2D: problem 1
Determine roll pitch yaw angles from a 3D rotation matrix
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