maya_matrix_euler_rotation.py

import maya.api.OpenMaya as om
import pymel.core as pm

rot_order = 5

kRotateOrders = [om.MEulerRotation.kXYZ,
                om.MEulerRotation.kYZX,
                om.MEulerRotation.kZXY,
                om.MEulerRotation.kXZY,
                om.MEulerRotation.kYXZ,
                om.MEulerRotation.kZYX]
                
# this matrix will:            
# translate 1, 2, 3
# rotate 10, 20 ,30   
m_list = [  [0.813797681349, 0.543838142482, -0.204874128703, 0.0],
            [-0.469846310393, 0.823172944646, 0.318795777597, 0.0],
            [0.342020143326, -0.163175911167, 0.925416578398, 0.0],
            [1.0, 2.0, 3.0, 1.0]]

m = om.MMatrix(m_list)
# construct a transformation matrix
tm = om.MTransformationMatrix(m)

# get translation and rotation from the matrix
t = tm.translation(1)
r = tm.rotation().reorder(kRotateOrders[rot_order])

c = pm.polyCube()[0]
c.translate.set(t)
c.rotateOrder.set(rot_order)
c.rotate.set(pm.util.degrees((r.x, r.y, r.z)))