There is a flaw in the test suite. It tests the values in rpy2r rather than the results rpy from the solver's function. Also, the tolerance needs to be widened a bit.
radius of a spherical planet
given 3 sides, find area of this triangle
Celsius to Kelvin
Twists in 2D
Invert a 3D rigid-body transformation
Relative pose in 2D: problem 1
Composing relative poses in 2D: problem 1
Homogeneous lines and points in 2D: problem 1
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