def rot3_compare(R: Rot3, R_: Rot3, msg=None) -> bool:
    return np.allclose(R.xyz(), R_.xyz(), atol=0.01)
def rot3_compare(R: Rot3, R_: Rot3, msg=None) -> bool:
    return np.allclose(R.xyz(), R_.xyz(), atol=0.01)