fairmotion/ops/conversions.py [126:133]:
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    if isinstance(theta, np.ndarray):
        R = np.zeros(theta.shape + (3, 3))
        R[...] = constants.eye_R()
    else:
        R = constants.eye_R()
    c = np.cos(theta)
    s = np.sin(theta)
    R[..., 0, 0] = c
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fairmotion/ops/conversions.py [144:151]:
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    if isinstance(theta, np.ndarray):
        R = np.zeros(theta.shape + (3, 3))
        R[...] = constants.eye_R()
    else:
        R = constants.eye_R()
    c = np.cos(theta)
    s = np.sin(theta)
    R[..., 0, 0] = c
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