How to round symbolic matrix

[Starpower_Power]

i want that output in round form
for emp: 1e-17 =0 should be zero.
thanks

[qwerty]

using SymPy
@syms t d
r = [cos(t) -sin(t) d;sin(t) cos(t) 0; 0 0 1]
[subs(i, (t, π)) for i in r]