Convert from Euler ZYX (RPY) to Rotation Matrix and Quaternion Using TI-Nspire-CX-CAS Calculator
Hope It'll help people who need this. (RPY is equal to Euler ZYX order by the way)
put .tns file to MyLib folder to use it globally.
then click doc -> 6. Refresh Libraries you can use it anywhere you want
https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Euler_Angles_to_Quaternion_Conversion
http://quaternions.online/