rotation_matrix

import numpy as np


def rotation_matrix(rx, ry, rz):
    """
    Not sure if the calculation is right.
    """
    rx, ry, rz = map(np.radians, (rx, ry, rz))
    rxs, rys, rzs = np.sin((rx, ry, rz))
    rxc, ryc, rzc = np.cos((rx, ry, rz))

    Rx = np.array([
        (1, 0, 0),
        (0, rxc, -rxs),
        (0, rxs, rxc)
    ])

    Ry = np.array([
        (ryc, 0, rys),
        (0, 1, 0),
        (-rys, 0, ryc)
    ])

    Rz = np.array([
        (rzc, -rzs, 0),
        (rzs, rzc, 0),
        (0, 0, 1)
    ])

    return Rz @ Ry @ Rx


print(
    np.round(
        rotation_matrix(0, 0, 90),
        1,
    )
)