Fix dual quaternion logarithm near zero
Fix dual quaternion logarithm near zero

ndantam/amino,golems/amino,golems/amino,KeliangH/amino,golems/amino,ndantam/amino,golems/amino,KeliangH/amino,KeliangH/amino,ndantam/amino,KeliangH/amino,KeliangH/amino,golems/amino,ndantam/amino,ndantam/amino,KeliangH/amino,ndantam/amino,golems/amino