diff --git a/docs/preview/pr/353/_modules/pypose/lietensor/convert/index.html b/docs/preview/pr/353/_modules/pypose/lietensor/convert/index.html
index 6056776a..7c0997c4 100644
--- a/docs/preview/pr/353/_modules/pypose/lietensor/convert/index.html
+++ b/docs/preview/pr/353/_modules/pypose/lietensor/convert/index.html
@@ -1074,7 +1074,7 @@ <h1>Source code for pypose.lietensor.convert</h1><div class="highlight"><pre>
 <span class="w">    </span><span class="sa">r</span><span class="sd">&#39;&#39;&#39;</span>
 <span class="sd">    Normalize the quaternion part of a ``LieTensor``, which has to be a Lie group.</span>
 <span class="sd">    If input is a not a Lie group, then do nothing and return the input.</span>
-<span class="sd">    If the quaternion parts are zeros, then initilize identity quaternions.</span>
+<span class="sd">    If the quaternion parts contain pure zeros, then raise an error.</span>
 
 <span class="sd">    The quaternion parts :math:`v` are normalized as</span>
 
@@ -1097,8 +1097,8 @@ <h1>Source code for pypose.lietensor.convert</h1><div class="highlight"><pre>
         <span class="k">elif</span> <span class="nb">input</span><span class="o">.</span><span class="n">ltype</span> <span class="ow">in</span> <span class="p">[</span><span class="n">SE3_type</span><span class="p">,</span> <span class="n">Sim3_type</span><span class="p">]:</span>
             <span class="n">data</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">normalize</span><span class="p">(</span><span class="n">data</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">p</span><span class="o">=</span><span class="mi">2</span><span class="p">,</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">,</span> <span class="n">eps</span><span class="o">=</span><span class="n">eps</span><span class="p">)</span>
         <span class="n">output</span> <span class="o">=</span> <span class="n">LieTensor</span><span class="p">(</span><span class="n">data</span><span class="p">,</span> <span class="n">ltype</span><span class="o">=</span><span class="nb">input</span><span class="o">.</span><span class="n">ltype</span><span class="p">)</span>
-        <span class="k">if</span> <span class="n">torch</span><span class="o">.</span><span class="n">norm</span><span class="p">(</span><span class="n">output</span><span class="o">.</span><span class="n">rotation</span><span class="p">())</span> <span class="o">&lt;</span> <span class="n">eps</span><span class="p">:</span>
-            <span class="n">output</span><span class="o">.</span><span class="n">rotation</span><span class="p">()</span><span class="o">.</span><span class="n">identity_</span><span class="p">()</span>
+        <span class="k">if</span> <span class="p">(</span><span class="n">output</span><span class="o">.</span><span class="n">rotation</span><span class="p">()</span><span class="o">.</span><span class="n">norm</span><span class="p">(</span><span class="n">p</span><span class="o">=</span><span class="mi">2</span><span class="p">,</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span> <span class="o">&lt;</span> <span class="n">eps</span><span class="p">)</span><span class="o">.</span><span class="n">any</span><span class="p">():</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Detected zero quaternions, which cannot be normalized.&quot;</span><span class="p">)</span>
         <span class="k">return</span> <span class="n">output</span>
     <span class="k">else</span><span class="p">:</span>
         <span class="n">warnings</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span><span class="s2">&quot;Input is not Lie group, doing thing and returning input..&quot;</span><span class="p">)</span>
diff --git a/docs/preview/pr/353/generated/pypose.quat2unit/index.html b/docs/preview/pr/353/generated/pypose.quat2unit/index.html
index 5371b84a..8058672b 100644
--- a/docs/preview/pr/353/generated/pypose.quat2unit/index.html
+++ b/docs/preview/pr/353/generated/pypose.quat2unit/index.html
@@ -253,7 +253,7 @@ <h1>pypose.quat2unit<a class="headerlink" href="#pypose-quat2unit" title="Permal
 <span class="sig-prename descclassname"><span class="pre">pypose.</span></span><span class="sig-name descname"><span class="pre">quat2unit</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">input</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">eps</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1e-12</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../_modules/pypose/lietensor/convert/#quat2unit"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#pypose.quat2unit" title="Permalink to this definition">¶</a></dt>
 <dd><p>Normalize the quaternion part of a <code class="docutils literal notranslate"><span class="pre">LieTensor</span></code>, which has to be a Lie group.
 If input is a not a Lie group, then do nothing and return the input.
-If the quaternion parts are zeros, then initilize identity quaternions.</p>
+If the quaternion parts contain pure zeros, then raise an error.</p>
 <p>The quaternion parts <span class="math">\(v\)</span> are normalized as</p>
 <div class="math">
 \[v = \frac{v}{\max(\lVert v \rVert_2, \epsilon)},
diff --git a/docs/preview/pr/353/searchindex.js b/docs/preview/pr/353/searchindex.js
index 3ce4c53d..5d7e0ba5 100644
--- a/docs/preview/pr/353/searchindex.js
+++ b/docs/preview/pr/353/searchindex.js
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44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 69, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116], "lietensor": [3, 4, 6, 7, 8, 9, 11, 12, 13, 14, 15, 16, 17, 18, 21, 26, 28, 30, 32, 33, 34, 35, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 50, 51, 52, 53, 54, 56, 57, 58, 67, 69, 71, 74, 82, 92, 93, 94, 95, 96, 97, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 116], "input": [3, 4, 6, 7, 8, 9, 11, 13, 18, 19, 21, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 49, 50, 51, 52, 53, 54, 55, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 69, 71, 72, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 91, 93, 104, 106, 107, 108, 110, 111, 112, 113, 115], "lie": [3, 4, 6, 7, 8, 9, 11, 13, 18, 53, 67, 93], "group": [3, 4, 6, 7, 8, 9, 11, 13, 18, 30, 53, 67, 93, 98], "tensor": [3, 4, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 30, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 69, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 112, 113, 114, 115, 116], "return": [3, 4, 6, 7, 8, 9, 10, 11, 13, 18, 20, 21, 22, 23, 24, 25, 26, 28, 30, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 69, 71, 72, 73, 74, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 106, 110, 111, 113, 115], "type": [3, 4, 6, 7, 8, 9, 10, 11, 13, 14, 15, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 30, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 62, 64, 65, 66, 67, 69, 71, 72, 73, 74, 83, 84, 85, 86, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 104, 105, 106, 107, 108, 109, 110, 111, 113, 115], "exampl": [3, 4, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 30, 32, 33, 34, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 69, 71, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115], "mathrm": [3, 9, 13, 14, 15, 16, 17, 18, 28, 50, 51, 52, 53, 57, 58, 59, 62, 69, 71, 84, 85, 86, 87, 89, 94, 95, 96, 97, 99, 100, 101, 102, 105, 107, 108, 109], "so3": [3, 4, 6, 7, 8, 9, 10, 11, 13, 14, 15, 26, 30, 32, 40, 46, 52, 58, 67, 98, 104, 105, 106, 107, 113, 116], "mapsto": [3, 4, 6, 7, 8, 9, 11, 13, 67], "torch": [3, 4, 6, 10, 11, 12, 14, 15, 16, 17, 18, 20, 21, 22, 23, 24, 25, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 66, 67, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 105, 107, 108, 109, 110, 111, 112, 114, 115], "randn": [3, 10, 14, 15, 16, 17, 18, 20, 22, 23, 24, 33, 35, 55, 59, 60, 61, 62, 64, 66, 67, 74, 85, 86, 98, 103, 105, 107, 108, 109, 115], "3": [3, 4, 6, 8, 9, 10, 11, 15, 17, 20, 21, 23, 24, 25, 33, 34, 35, 36, 37, 42, 49, 50, 51, 52, 53, 55, 56, 57, 58, 59, 60, 61, 62, 66, 67, 69, 71, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 89, 90, 92, 94, 96, 99, 100, 101, 102, 103, 109, 110, 112, 114, 115], "size": [3, 10, 14, 15, 16, 17, 20, 22, 23, 26, 28, 30, 35, 37, 38, 42, 43, 58, 74, 83, 98, 105, 107, 108, 109], "1": [3, 4, 6, 7, 8, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 30, 32, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 49, 50, 51, 52, 53, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 66, 67, 69, 71, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 89, 90, 91, 92, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 105, 106, 107, 108, 109, 110, 112, 113, 114, 115], "pp": [3, 4, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 20, 21, 22, 23, 25, 26, 28, 30, 32, 33, 34, 35, 38, 39, 40, 41, 42, 43, 44, 45, 46, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 66, 67, 69, 71, 74, 82, 87, 88, 89, 90, 91, 92, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 115], "identity_so3": [3, 16, 58, 109, 116], "2": [3, 4, 6, 7, 8, 10, 11, 12, 14, 15, 16, 17, 20, 21, 22, 23, 24, 25, 26, 28, 30, 32, 33, 34, 37, 38, 39, 40, 41, 43, 44, 45, 46, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 66, 67, 69, 71, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 94, 95, 96, 97, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 113, 114, 115], "equival": [3, 4, 6, 7, 8, 10, 11, 13, 18, 28, 32, 35, 62, 67, 69, 71, 98], "7576": 3, "1503": 3, "0": [3, 4, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 21, 24, 25, 26, 28, 30, 32, 33, 34, 35, 36, 38, 39, 40, 41, 42, 43, 44, 45, 46, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 62, 63, 64, 66, 67, 69, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 113, 114, 115], "9920": 3, "se3": [3, 4, 6, 7, 8, 10, 11, 13, 18, 21, 26, 30, 32, 39, 44, 47, 51, 56, 67, 92, 106, 116], "randn_se3": [3, 4, 6, 7, 8, 10, 11, 13, 15, 18, 26, 28, 30, 35, 67, 69, 71, 82, 87, 88, 89, 98, 103, 104, 106, 107, 112, 113, 116], "same": [3, 4, 8, 10, 18, 32, 35, 42, 50, 53, 67, 69, 71, 72, 74, 75, 76, 77, 78, 79, 80, 81, 83, 94, 95, 97, 98, 99, 100, 101, 110, 112], "5676": 3, "0452": 3, "0929": 3, "0000": [3, 12, 24, 34, 35, 49, 50, 51, 52, 53, 57, 63, 74, 75, 76, 77, 78, 79, 80, 81, 90, 115], "sim3": [3, 4, 6, 7, 8, 10, 11, 13, 32, 41, 45, 53, 67, 116], "randn_sim3": [3, 4, 6, 7, 8, 11, 13, 17, 32, 67, 98, 106, 108, 116], "respect": [3, 6, 7, 8, 11, 17, 22, 26, 28, 30, 33, 35, 55, 56, 58, 63, 66, 67, 69, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 90, 102, 103], "1551": 3, "2930": 3, "4531": 3, "6140": 3, "1263": 3, "7607": 3, "rxso3": [3, 4, 6, 7, 8, 10, 11, 13, 17, 32, 38, 43, 50, 67, 108, 113, 116], "randn_rxso3": [3, 4, 6, 7, 8, 11, 13, 14, 32, 67, 98, 105, 116], "The": [4, 6, 7, 8, 9, 10, 11, 13, 14, 15, 16, 17, 18, 20, 21, 22, 24, 25, 26, 28, 30, 32, 33, 49, 50, 51, 53, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 69, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 89, 90, 91, 92, 93, 94, 95, 97, 98, 99, 100, 101, 102, 103, 105, 106, 107, 108, 109, 110, 112, 113, 115], "dot": [4, 8], "product": [4, 8, 20, 22, 23, 30, 67, 69, 71, 107, 108], "between": [4, 8, 10, 21, 25, 49, 51, 53, 57, 58, 59, 62, 79, 107, 108, 110], "adjoint": [4, 8], "matrix": [4, 6, 8, 10, 11, 20, 21, 22, 34, 50, 51, 52, 53, 56, 58, 59, 60, 61, 62, 63, 69, 71, 82, 83, 84, 85, 108, 110, 116], "given": [4, 6, 8, 11, 13, 21, 33, 38, 39, 40, 41, 42, 43, 44, 45, 46, 57, 58, 63, 66, 69, 71, 74, 82, 84, 85, 86, 103], "an": [4, 6, 7, 8, 11, 17, 34, 47, 48, 50, 51, 52, 53, 56, 59, 62, 63, 67, 71, 74, 82, 84, 89, 91, 102], "second": [4, 8, 35, 63, 82], "algebra": [4, 6, 7, 8, 9, 11, 13, 18, 67], "mathcal": [4, 6, 7, 8, 9, 11, 18, 26, 28, 30, 55, 56, 64, 66, 94, 95, 96, 97, 99, 100, 101, 102], "g": [4, 6, 7, 8, 10, 11, 12, 28, 55, 58, 59, 62, 63, 64, 66, 71, 72], "output": [4, 6, 7, 8, 10, 11, 18, 20, 22, 23, 26, 28, 30, 33, 34, 35, 38, 39, 40, 41, 42, 43, 44, 45, 46, 49, 50, 51, 52, 53, 58, 59, 60, 61, 63, 65, 67, 69, 71, 74, 75, 76, 77, 78, 79, 80, 81, 82, 91, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 115], "ltype": [4, 6, 7, 8, 11, 14, 15, 16, 17, 34, 42, 67, 105, 107, 108, 109], "so3_typ": [4, 6, 7, 8, 10, 11, 34, 40, 46, 67, 96, 98, 102], "se3_typ": [4, 6, 7, 8, 10, 11, 34, 39, 44, 67, 95, 98, 100, 107], "times7": [4, 6, 7, 8, 11], "times6": [4, 6, 7, 8, 11], "sim3_typ": [4, 6, 7, 8, 10, 11, 34, 41, 45, 67, 97, 98, 101, 108], "times8": [4, 6, 7, 8, 11], "rxso3_typ": [4, 6, 7, 8, 10, 11, 34, 38, 43, 67, 94, 98, 99], "times5": [4, 6, 7, 8, 11], "let": [4, 6, 7, 8, 11, 50, 51, 52, 53, 56], "mathbf": [4, 6, 7, 8, 11, 22, 33, 34, 50, 51, 52, 53, 55, 56, 58, 59, 60, 61, 62, 63, 64, 66, 67, 69, 71, 72, 73, 74, 83, 84, 85, 86, 87, 89, 107, 108, 112, 115], "y": [4, 6, 7, 8, 11, 18, 32, 33, 50, 51, 52, 53, 55, 56, 59, 60, 61, 62, 63, 64, 66, 67, 69, 71, 72, 75, 76, 77, 78, 79, 80, 81, 102, 106, 113, 115], "_i": [4, 6, 7, 8, 11, 18, 22, 33, 50, 51, 52, 53, 56, 67, 69, 71, 72, 73, 75, 76, 77, 78, 79, 80, 81, 83, 84, 85, 86, 115], "If": [4, 6, 7, 8, 10, 11, 14, 15, 16, 17, 26, 30, 33, 35, 38, 39, 40, 41, 42, 43, 44, 45, 46, 49, 50, 51, 52, 53, 57, 58, 61, 62, 63, 64, 65, 66, 69, 71, 72, 74, 82, 85, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 105, 107, 108, 109, 112, 114], "s": [4, 6, 7, 8, 11, 14, 17, 18, 21, 35, 50, 53, 57, 59, 62, 63, 67, 71, 72, 74, 86, 87, 89, 94, 96, 97, 99, 101, 102, 103, 105, 106, 107, 108, 113], "ar": [4, 8, 10, 12, 14, 15, 16, 17, 18, 21, 22, 25, 26, 28, 30, 33, 55, 56, 57, 58, 59, 60, 61, 62, 63, 66, 67, 69, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 105, 107, 108, 109, 112], "instanc": [4, 6, 7, 8, 11, 47, 48, 59, 62, 67], "textrm": 4, "so": [4, 60, 61, 63], "In": [4, 8, 10, 21, 25, 50, 51, 52, 53, 60, 61, 65, 83], "case": [4, 10, 18, 60, 61, 65, 74, 77, 94, 95, 97, 98, 99, 100, 101], "element": [4, 6, 11, 14, 15, 16, 17, 18, 34, 35, 50, 51, 52, 53, 58, 67, 69, 71, 91, 94, 95, 97, 98, 99, 100, 101, 105, 107, 108, 109], "rotat": [4, 6, 7, 10, 11, 14, 15, 32, 33, 34, 50, 51, 52, 53, 56, 58, 94, 96, 97, 99, 100, 101, 102, 105, 107, 108, 109, 116], "us": [4, 6, 8, 10, 12, 14, 15, 16, 17, 35, 38, 39, 40, 41, 42, 43, 44, 45, 46, 49, 50, 51, 52, 53, 55, 56, 57, 58, 59, 62, 63, 64, 65, 69, 71, 72, 74, 77, 78, 82, 83, 84, 85, 86, 87, 88, 89, 94, 95, 96, 97, 99, 100, 101, 102, 105, 107, 108, 109, 110, 114], "repres": [4, 6, 10, 11, 14, 15, 50, 51, 52, 53, 56, 63, 102, 108], "tangent": [4, 8, 18, 25], "vector": [4, 7, 11, 15, 17, 18, 20, 21, 22, 23, 51, 53, 56, 59, 60, 61, 62, 69, 71, 74, 105, 107, 108, 113, 115], "move": [4, 62], "from": [4, 6, 7, 8, 10, 11, 14, 15, 16, 17, 20, 34, 49, 57, 58, 59, 62, 63, 69, 71, 74, 91, 94, 95, 96, 97, 99, 100, 101, 102, 104, 105, 106, 107, 108, 109, 113, 114], "space": [4, 8, 18, 24, 25, 37, 60, 61], "right": [4, 6, 7, 8, 9, 11, 16, 18, 22, 23, 26, 30, 50, 51, 52, 53, 58, 59, 62, 63, 66, 69, 71, 72, 73, 75, 76, 78, 80, 83, 84, 85, 86, 87, 89], "side": [4, 83, 84, 85, 86], "left": [4, 6, 7, 8, 10, 11, 18, 22, 23, 26, 27, 28, 30, 31, 50, 51, 52, 53, 59, 62, 63, 66, 69, 71, 72, 73, 75, 76, 78, 80, 87, 89, 107], "t": [4, 7, 8, 11, 14, 17, 21, 22, 25, 28, 34, 50, 51, 52, 53, 55, 56, 57, 58, 59, 61, 62, 63, 64, 65, 66, 67, 69, 71, 72, 73, 87, 89, 95, 97, 100, 101, 105, 107, 108], "translat": [4, 6, 7, 8, 10, 11, 15, 17, 50, 51, 53, 56, 67, 95, 97, 100, 101, 107, 108, 116], "part": [4, 6, 7, 8, 10, 11, 67, 93, 94, 97, 99, 101, 104, 106, 113], "_": [4, 6, 18, 21, 50, 51, 53, 55, 59, 60, 61, 62, 63, 64, 66, 69, 71, 74, 96, 102], "i": [4, 6, 8, 11, 21, 22, 26, 28, 30, 33, 34, 50, 51, 52, 53, 55, 56, 57, 58, 64, 66, 67, 72, 73, 74, 83, 84, 85, 86, 94, 95, 97, 99, 100, 101, 102, 115], "time": [4, 9, 18, 20, 21, 22, 26, 28, 30, 34, 35, 50, 51, 52, 53, 55, 58, 59, 60, 61, 62, 63, 64, 65, 66, 82, 83, 84, 85, 86], "skew": [4, 6, 8, 11, 58, 115], "vec2skew": [4, 8, 58, 116], "begin": [4, 6, 8, 11, 14, 15, 17, 18, 21, 25, 33, 50, 51, 52, 53, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 66, 67, 69, 71, 72, 73, 74, 77, 84, 87, 89, 96, 102, 105, 107, 108, 109, 115], "arrai": [4, 6, 8, 11], "cc": [4, 8, 63], "end": [4, 6, 8, 11, 14, 15, 17, 18, 21, 25, 33, 50, 51, 52, 53, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 66, 67, 69, 71, 72, 73, 74, 77, 84, 87, 89, 96, 102, 105, 107, 108, 109, 115], "6": [4, 6, 8, 10, 11, 18, 21, 36, 37, 49, 62, 69, 71, 74, 82, 87, 88, 89, 90, 92, 96, 103, 107, 114], "se": [4, 110], "s_i": [4, 6, 7, 11, 50, 53, 56, 67], "scale": [4, 6, 7, 10, 11, 14, 17, 18, 50, 53, 56, 67, 77, 87, 89, 94, 97, 98, 99, 101, 105, 108, 116], "7": [4, 6, 8, 10, 11, 15, 36, 51, 57, 59, 82, 89, 90, 92, 103, 108], "sim": [4, 8, 55, 64, 66, 102], "4": [4, 6, 8, 10, 16, 21, 22, 25, 26, 32, 33, 36, 37, 49, 50, 51, 52, 53, 56, 59, 60, 61, 62, 67, 71, 82, 83, 90, 92, 94, 105, 106, 114], "rxso": 4, "e": [4, 6, 8, 10, 11, 12, 21, 28, 63, 71, 81, 94, 95, 97, 99, 100, 101, 102], "oper": [4, 10, 11, 14, 15, 16, 17, 18, 28, 30, 38, 39, 40, 41, 42, 43, 44, 45, 46, 67, 82, 83, 94, 95, 96, 97, 98, 99, 100, 101, 102, 105, 107, 108, 109], "linear": [4, 50, 53, 55, 56, 58, 59, 60, 61, 62, 63, 64, 65, 66, 69, 71, 74, 83, 84, 85, 86], "which": [4, 6, 10, 11, 14, 15, 16, 17, 18, 20, 21, 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