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].
Project Euler: Problem 1, Multiples of 3 and 5
Project Euler: Problem 2, Sum of even Fibonacci
Swap the input arguments
System of equations
intersection of matrices
Relative points in 2D: problem 2
Invert a 3D rotation matrix
Pose from bearing angles in 2D
Composing relative poses in 2D: problem 2
Invert a 3D rigid-body transformation
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