code: def _skew_symmetric_translation(pos_A_in_B):
      
      return np.array(
          [
              0.,
              -pos_A_in_B[2],
              pos_A_in_B[1],
              pos_A_in_B[2],
              0.,
              -pos_A_in_B[0],
              -pos_A_in_B[1],
              pos_A_in_B[0],
              0.,
          ]
      ).reshape((3, 3))
docs: Helper function to get a skew symmetric translation matrix for converting quantities
      between frames.