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  _____      ___      ______    ______    ______  
 /  ___||   / _ \\   /_   _//  /_   _//  /_   _// 
| // __    / //\ \\  `-| |,-    -| ||-     | ||   
| \\_\ || |  ___  ||   | ||     _| ||_    _| ||   
 \____//  |_||  |_||   |_||    /_____//  /__//    
  `---`   `-`   `-`    `-`'    `-----`   `--`

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Text this: Quantizing euclidean motions via double-coset decomposition