>>> import pypose as pp
>>> pp.so3([0,0,0])
so3Type LieTensor:
LieTensor([0., 0., 0.])
>>> a = pp.so3([0,0,0])
>>> b = pp.so3([1,0,0])
>>> a @ b
so3Type LieTensor:
LieTensor([0., 0., 0.])
>>> a.Exp() @ b
so3Type LieTensor:
LieTensor([1., 0., 0.])

PyTorch version: 2.0.0
Is debug build: False
CUDA used to build PyTorch: None
ROCM used to build PyTorch: N/A

OS: macOS 14.6.1 (x86_64)
GCC version: Could not collect
Clang version: 15.0.0 (clang-1500.3.9.4)
CMake version: Could not collect
Libc version: N/A

Python version: 3.8.8 (default, Apr 13 2021, 12:59:45)  [Clang 10.0.0 ] (64-bit runtime)
Python platform: macOS-10.16-x86_64-i386-64bit
Is CUDA available: False
CUDA runtime version: No CUDA
GPU models and configuration: No CUDA
Nvidia driver version: No CUDA
cuDNN version: No CUDA
HIP runtime version: N/A
MIOpen runtime version: N/A
Is XNNPACK available: True

Versions of relevant libraries:
[pip3] functorch==0.1.1
[pip3] mypy-extensions==0.4.3
[pip3] numpy==1.24.3
[pip3] numpydoc==1.1.0
[pip3] torch==2.0.0
[pip3] torchvision==0.15.1
[conda] blas                      1.0                         mkl  
[conda] functorch                 0.1.1                    pypi_0    pypi
[conda] mkl                       2021.2.0           hecd8cb5_269  
[conda] mkl-service               2.3.0            py38h9ed2024_1  
[conda] mkl_fft                   1.3.0            py38h4a7008c_2  
[conda] mkl_random                1.2.1            py38hb2f4e1b_2  
[conda] numpy                     1.24.3                   pypi_0    pypi
[conda] numpydoc                  1.1.0              pyhd3eb1b0_1  
[conda] torch                     2.0.0                    pypi_0    pypi
[conda] torchvision               0.15.1                   pypi_0    pypi