Fix implementation of Transform.inv() #316
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I've been porting some of my research code to Brax v2, and the performance is very good so far! Our code uses rigid body transforms extensively, and we noticed that
Transform.inv()
seems to differ from the textbook formula (as mentioned in #297).This pull request:
brax.v2.base.Transform.inv()
to match tiny-differentiable-simulator and MuJoCobrax/v2/math_test.py
(please feel free to move to an appropriate place)