Mathis SCHEFFLER

### Additional Details To provide further insight into the numerical behavior of the matrix, here are the detailed results of key computations: #### **Matrix Determinant** The determinant of matrix `R`...

Now the forward pass works well and has tests with and without equalities/inequalities. I'll write tests for the backward pass tomorrow and, if needed, edit the Torch function accordingly.

There are still some issues with the PR: - **The test tolerance is way too large** (1e-2). I still need to set some parameters. - **Gradients are incorrect** for the...