from scipy.spatial.transform import Rotation as R
import numpy as np

arm_orientation_set0 = np.array([-180,-30,0])
b_rotation_s_set0 = R.from_euler('xyz',arm_orientation_set0,degrees=True).as_matrix()
tcp_offset = b_rotation_s_set0 @ np.array([0,0,154.071])
print(tcp_offset)