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                                            MixMoz

Function to transform from 3D XYZ to exponential map

I implemented this a while ago, so please test if it works. def xyz2expmap(J0, J1, J2): return rotmat2expmap(xzy2rotmat(J0, J1, J2)) def skew(x): return np.array([[0, -x[2], x[1]], [x[2], 0, -x[0]], [-x[1],...