code: def skew(w: jnp.ndarray) -> jnp.ndarray:
      """Build a skew matrix ("cross product matrix") for vector w.
  
      Modern Robotics Eqn 3.30.
  
      Args:
        w: (3,) A 3-vector
  
      Returns:
        W: (3, 3) A skew matrix such that W @ v == w x v
      """
      w = jnp.reshape(w, (3))
      return jnp.array(
          [[0.0, -w[2], w[1]], [w[2], 0.0, -w[0]], [-w[1], w[0], 0.0]]
      )
  
file_path: nerfies/nerfies/rigid_body.py
imports: import jax
  from jax import numpy
label_desc: Use image node_id 1 for calling a global function with example usage: skew(w) and returns: jnp