This is cheating.
it's not, this is a direct and clever solution to the specified problem which would not work for other arbitrary Cody problems, hence not cheating (in my book)
It dseon't mettar waht oedrr the lrettes in a wrod are.
Relative points in 2D: problem 1
Create a 3D rotation matrix from roll-pitch-yaw angles
Twists in 2D
Relative pose in 2D: problem 2
Composing relative poses in 2D: problem 1
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