def test_curlywedge_curlyvee_batch():
xis = torch.Tensor([[1, 2, 3, 4, 5, 6], [7, 8, 9, 10, 11, 12]])
Psis = SE3.curlywedge(xis)
assert (xis == SE3.curlyvee(Psis)).all()
def test_curlywedge_curlyvee():
xi = torch.Tensor([1, 2, 3, 4, 5, 6])
Psi = SE3.curlywedge(xi)
assert (xi == SE3.curlyvee(Psi)).all()