Hello esteemed colleagues!

I have a CRX5 with iRVision 2D and I am playing around with the math to translate the coordinates of a Point in a UF (found using iRvision) to WF, which I will later create a frame with. As a proof-of-concept, I made a Python program that does (I don't have Karel):

**1 -** Create the Rotation matrix with given UF Coordinates (by matrix multiplying the rotation matrices of R(X)@R(Y)@R(Z) );

**2 - **Create the Homogeneous Transformation Matrix by concatenating the Rotation Matrix calculated above, the XYZ coordinates of the UF and [0,0,0,1];

**3 -** Matrix multiply the Homogeneous Transformation Matrix with the Point XYZ coordinates to get the WF coordinates of that Point;

**This part is working great**, and is giving me the right results. However it only gives me the XYZ coordinates, so **how can I get the angles?** I noticed that R is pretty straightforward, just the Point(R) + UF(R) and you get the R angle in WF, but how about **W and P**?

Thanks in advance for the help!