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Adapt interface for orthogonal and symplectic Lie algebras (#3391)
* Small docs improvements * Adapt so interface * Add sp Lie algebra * Adapt to `vec` renaming * Don't assume anything about the kernel structure * Apply suggestions from code review Co-authored-by: Max Horn <max@quendi.de> --------- Co-authored-by: Max Horn <max@quendi.de> (cherry picked from commit db3dc1f)
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