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].
Extract leading non-zero digit
linear least squares fitting
System of equations
Make a diamond
Invert a 3D rotation matrix
Relative points in 2D: problem 1
Relative points in 2D: problem 3
Create a 3D rotation matrix
Composing relative poses in 2D: problem 1
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