text: import torch
  
  
  def orthogonal_inverse(mat: torch.Tensor) -> torch.Tensor:
      """
      Creates the inverse matrix of an orthogonal matrix
      Its basically just the transposed matrix :D
      Args:
          mat: Orthogonal matrix
      Return:
          Inverse of the input matrix
      """
      return torch.transpose(mat, -1, -2)