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import torch
import numpy as np
import networkx as nx
import matplotlib.pyplot as plt
from networkx.algorithms.traversal.depth_first_search import dfs_edges

def pr2t_torch(p, R):
    """
    Convert pose to transformation matrix in PyTorch
    Args:

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import numpy as np
import networkx as nx
import matplotlib.pyplot as plt
from networkx.algorithms.traversal.depth_first_search import dfs_edges

"""
sys.path.append('../../package/kinematics_helper/') # for 'transforms'
"""
from transforms import (
    rodrigues,

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