docstr: Check that
  `so3_exp_map(so3_log_map(so3_exp_map(log_rot)))
  == so3_exp_map(log_rot)`
  for a randomly generated batch of rotation matrix logarithms `log_rot`.
  Unlike `test_so3_log_to_exp_to_log`, this test checks the
  correctness of converting a `log_rot` which contains values > math.pi.
docstr_tok: ["Check","that","`","so3_exp_map","(","so3_log_map","(","so3_exp_map","(","log_rot",")",")",")","==","so3_exp_map","(","log_rot",")","`","for","a","randomly","generated","batch","of","rotation","matrix","logarithms","`","log_rot","`",".","Unlike","`","test_so3_log_to_exp_to_log","`",",","this","test","checks","the","correctness","of","converting","a","`","log_rot","`","which","contains","values",">","math.pi","."]
code: def test_so3_log_to_exp_to_log_to_exp(self, batch_size: int = 100):
      """
      Check that
      `so3_exp_map(so3_log_map(so3_exp_map(log_rot)))
      == so3_exp_map(log_rot)`
      for a randomly generated batch of rotation matrix logarithms `log_rot`.
      Unlike `test_so3_log_to_exp_to_log`, this test checks the
      correctness of converting a `log_rot` which contains values > math.pi.
      """
      log_rot = 2.0 * TestSO3.init_log_rot(batch_size=batch_size)
      # check also the singular cases where rot. angle = {0, 2pi}
      log_rot[:2] = 0
      log_rot[1, 0] = 2.0 * math.pi - 1e-6
      rot = so3_exp_map(log_rot, eps=1e-4)
      rot_ = so3_exp_map(
          so3_log_map(rot, eps=1e-4, cos_bound=1e-6), eps=1e-6
      )
      self.assertClose(rot, rot_, atol=0.01)
      angles = so3_relative_angle(rot, rot_, cos_bound=1e-6)
      self.assertClose(angles, torch.zeros_like(angles), atol=0.01)
  
imports: import math
  import unittest
  from distutils.version import LooseVersion
  import numpy
  import torch
  from pytorch3d.transforms.so3 import hat, so3_exp_map, so3_log_map, so3_relative_angle, so3_rotation_angle
  from .common_testing import TestCaseMixin
label_desc: Use image node_id 9 for calling the TestSO3 obj's underlying member method code with example usage: obj.test_so3_log_to_exp_to_log_to_exp(batch_size) without return types