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Fix the gauge freedom for PGO#14

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zitongzhan wants to merge 20 commits intoreleasefrom
fix_gauge_pgo
Open

Fix the gauge freedom for PGO#14
zitongzhan wants to merge 20 commits intoreleasefrom
fix_gauge_pgo

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@zitongzhan
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Comment thread pgo.py Fixed
Comment thread pgo.py Fixed
Comment thread pgo.py Fixed
Comment thread pgo.py Fixed
Comment thread bae/autograd/graph.py Fixed
lt.SO3Type.Inv = _ambient_so3_inv
lt.SE3Type.Inv = _ambient_se3_inv

_PATCH_INSTALLED = True
Comment thread bae/optim/optimizer.py
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This is no longer needed because mm supports all float types now

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