with( LinearAlgebra ):Rx := <<1,0,0,0>|<0,cos(rx),sin(rx),0>|<0,-sin(rx), cos(rx),0>|<0,0,0,1>>;

NiM+SSNSeEc2Ii1JJ1JUQUJMRUdGJTYlIiczcE0tSSdNQVRSSVhHRiU2IzcmNyYiIiIiIiFGMEYwNyZGMC1JJGNvc0c2JEkqcHJvdGVjdGVkR0Y1SShfc3lzbGliR0YlNiNJI3J4R0YlLCQtSSRzaW5HRjRGNyEiIkYwNyZGMEY6RjJGMDcmRjBGMEYwRi9JJ01hdHJpeEdGNA==

Ry := <<cos(ry),0,-sin(ry),0>|<0,1,0,0>|<sin(ry),0,cos(ry),0>|<0,0,0,1>>;

NiM+SSNSeUc2Ii1JJ1JUQUJMRUdGJTYlIicvM04tSSdNQVRSSVhHRiU2IzcmNyYtSSRjb3NHNiRJKnByb3RlY3RlZEdGMkkoX3N5c2xpYkdGJTYjSSNyeUdGJSIiIS1JJHNpbkdGMUY0RjY3JkY2IiIiRjZGNjcmLCRGNyEiIkY2Ri9GNjcmRjZGNkY2RjpJJ01hdHJpeEdGMQ==

Rz := <<cos(rz),sin(rz),0,0>|<-sin(rz),cos(rz),0,0>|<0,0,1,0>|<0,0,0,1>>;

NiM+SSNSekc2Ii1JJ1JUQUJMRUdGJTYlIidDWU4tSSdNQVRSSVhHRiU2IzcmNyYtSSRjb3NHNiRJKnByb3RlY3RlZEdGMkkoX3N5c2xpYkdGJTYjSSNyekdGJSwkLUkkc2luR0YxRjQhIiIiIiFGOjcmRjdGL0Y6Rjo3JkY6RjoiIiJGOjcmRjpGOkY6Rj1JJ01hdHJpeEdGMQ==

S := <<sx,0,0,0>|<0,sy,0,0>|<0,0,sz,0>|<0,0,0,1>>;

NiM+SSJTRzYiLUknUlRBQkxFR0YlNiUiJ1c1Ty1JJ01BVFJJWEdGJTYjNyY3Jkkjc3hHRiUiIiFGMEYwNyZGMEkjc3lHRiVGMEYwNyZGMEYwSSNzekdGJUYwNyZGMEYwRjAiIiJJJ01hdHJpeEc2JEkqcHJvdGVjdGVkR0Y5SShfc3lzbGliR0Yl

T := <<1,0,0,0>|<0,1,0,0>|<0,0,1,0>|<tx,ty,tz,1>>;

NiM+SSJURzYiLUknUlRBQkxFR0YlNiUiJytSTy1JJ01BVFJJWEdGJTYjNyY3JiIiIiIiIUYwSSN0eEdGJTcmRjBGL0YwSSN0eUdGJTcmRjBGMEYvSSN0ekdGJTcmRjBGMEYwRi9JJ01hdHJpeEc2JEkqcHJvdGVjdGVkR0Y5SShfc3lzbGliR0Yl

composed := simplify( Rz . Ry . Rx . S . T );

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invComposed := simplify( composed^(-1) );

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simplify( composed . invComposed );

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