Add docs from pypose/pypose

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docs/preview/pr/396/_modules/pypose/lietensor/lietensor/index.html

@@ -643,7 +643,9 @@ <h1>Source code for pypose.lietensor.lietensor</h1><div class="highlight"><pre>
         <span class="k">return</span> <span class="n">LieTensor</span><span class="p">(</span><span class="nb">input</span><span class="o">.</span><span class="n">tensor</span><span class="p">()[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">ltype</span><span class="o">=</span><span class="n">SO3_type</span><span class="p">)</span>
 
     <span class="k">def</span><span class="w"> </span><span class="nf">translation</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="nb">input</span><span class="p">):</span>
-        <span class="k">return</span> <span class="nb">input</span><span class="o">.</span><span class="n">tensor</span><span class="p">()[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+        <span class="nb">input</span> <span class="o">=</span> <span class="nb">input</span><span class="o">.</span><span class="n">tensor</span><span class="p">()</span> <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="nb">input</span><span class="p">,</span> <span class="n">LieTensor</span><span class="p">)</span> <span class="k">else</span> <span class="nb">input</span>
+        <span class="n">p</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="nb">input</span><span class="o">.</span><span class="n">shape</span><span class="p">[:</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">+</span> <span class="p">(</span><span class="mi">3</span><span class="p">,),</span> <span class="n">device</span><span class="o">=</span><span class="nb">input</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="nb">input</span><span class="o">.</span><span class="n">dtype</span><span class="p">)</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">Act</span><span class="p">(</span><span class="nb">input</span><span class="p">,</span> <span class="n">p</span><span class="p">)</span>
 
     <span class="k">def</span><span class="w"> </span><span class="nf">Adj</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">X</span><span class="p">,</span> <span class="n">a</span><span class="p">):</span>
         <span class="n">X</span> <span class="o">=</span> <span class="n">X</span><span class="o">.</span><span class="n">tensor</span><span class="p">()</span> <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">X</span><span class="p">,</span> <span class="n">LieTensor</span><span class="p">)</span> <span class="k">else</span> <span class="n">X</span>