def METHOD_NAME(z, y, x):
    # The whole matrix formula for z,y,x rotations from Sympy
    cos = math.cos
    sin = math.sin
    # the following copy / pasted from Sympy - see derivations subdirectory
    return [
        [cos(y) * cos(z), -cos(y) * sin(z), sin(y)],
        [
            cos(x) * sin(z) + cos(z) * sin(x) * sin(y),
            cos(x) * cos(z) - sin(x) * sin(y) * sin(z),
            -cos(y) * sin(x),
        ],
        [
            sin(x) * sin(z) - cos(x) * cos(z) * sin(y),
            cos(z) * sin(x) + cos(x) * sin(y) * sin(z),
            cos(x) * cos(y),
        ],
    ]