Euler Angles to DCM (any sequence)

import math as m
import numpy as np

def nsin(a):
    return -1 * m.sin(a)

dcmOps= [[m.cos, m.sin, nsin],[nsin, m.cos, m.sin],[m.sin, nsin, m.cos]];

def dcmRotate(angle, axis):
    dcm= np.zeros([3,3])
    if axis >= 0 and axis < 3:
        for n in range(0,len(dcmOps)):
            for m in range(0,len(dcmOps[n])):
                if n == axis and m == axis:
                    dcm[n,m]= 1
                elif n == axis or m == axis:
                    dcm[n,m]= 0
                else:
                    dcm[n,m]= dcmOps[n][m](angle)
    return dcm

def dcmFromEulerAngles(ea, sequence=[3,2,1]):
    if len(sequence) == len(ea) == 3:
        dcm= np.identity(3)
        for n in range(0, len(sequence)):
            dcm= np.matmul(dcmRotate(ea[n], sequence[n]-1), dcm)
        return dcm