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In this [line](https://github.com/deep-learning-with-pytorch/dlwpt-code/blob/d6c0210143daa133bbdeddaffc8993b1e17b5174/util/util.py#L31), the inverse rotation needs to be left-multiplied rather than right-multiplied. The correctness can be verified by the following code snippet: ``` import numpy as np from util.util...