def METHOD_NAME(roll_array, pitch_array, yaw):
    """
    Calculates the ZYX rotation matrix.
    Args
        Roll: Angular position about the x-axis in radians.
        Pitch: Angular position about the y-axis in radians.
        Yaw: Angular position about the z-axis in radians.
    Returns
        3x3 rotation matrix as NumPy array
    """
    roll = roll_array[0]
    pitch = pitch_array[0]
    return np.array(
        [[cos(yaw) * cos(pitch), -sin(yaw) * cos(roll) + cos(yaw) * sin(pitch) * sin(roll), sin(yaw) * sin(roll) + cos(yaw) * sin(pitch) * cos(roll)],
         [sin(yaw) * cos(pitch), cos(yaw) * cos(roll) + sin(yaw) * sin(pitch) *
          sin(roll), -cos(yaw) * sin(roll) + sin(yaw) * sin(pitch) * cos(roll)],
         [-sin(pitch), cos(pitch) * sin(roll), cos(pitch) * cos(yaw)]
         ])