The following matrices are written in Matlab codes form.
The standard basis for so(3) is: L1 = [0 0 0; 0 0 -1; 0 1 0], L2 = [0 0 1; 0 0 0; -1 0 0], L3 = [0 -1 0; 1 0 0; 0 0 0]. Since [L1, L2] = L3, the structure constants of this Lie algebra are C(12, 1) = C(12, 2) = 0, C(12, 3) = 1...