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| import math | |
| import numpy as np | |
| def get_rotating_transform(u, v): | |
| """ | |
| Given two unit vectors u, v, | |
| we compute the rotation R such that v = R @ u | |
| """ | |
| assert np.isclose(np.linalg.norm(u), 1) | |
| assert np.isclose(np.linalg.norm(v), 1) |