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create code fences with backticks ` or tildes ~
```
like so
``` -
add language identifier to highlight code
```python
def function(foo):
print(foo)
``` - put returns between paragraphs
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[phi,psi,theta]may representRX(phi)*RY(psi)*RZ(theta). If that is the case you need to find a way to construct the 3x3 rotation matrix, and pull the axis-angle from it.