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].
Smallest distance between a point and a rectangle
Project Euler: Problem 6, Natural numbers, squares and sums.
Triangle Numbers Below N
Numbers with prime factors 2, 3 and 5.
Relative points in 2D: problem 1
Create a 3D rotation matrix
Determine roll pitch yaw angles from a 3D rotation matrix
Pose interpolation in 2D
Composing relative poses in 2D: problem 2
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