A high-performance Python library for handling SE(3) rigid body transformations, Lie algebra mappings, and 3D pose manipulations.
Install & Download
1. ClawHub CLI
The fastest way to install a skill directly from the registry.
npx clawhub@latest install se3
2. Manual Installation
Copy the skill folder to one of these locations
~/.openclaw/skills/ <project>/skills/ Priority: Workspace > Local > Bundled
3. Prompt Installation
Copy this prompt to OpenClaw to install it automatically.
Help me install se3 using Clawhub. If Clawhub is not installed, install it first (npm i -g clawhub).
Prefer to download?
Get the raw skill files in a ZIP archive.
What is pywayne-vio-se3?
pywayne-vio-se3 is a specialized mathematical library designed for developers working with robotics, SLAM systems, and computer vision. As a key component of Openclaw Skills, it provides a robust interface for managing SE(3) rigid body motion, which combines 3D rotation and translation into a single homogeneous transformation matrix.
The library is built to handle complex spatial calculations with numerical stability, offering seamless conversions between quaternions, Euler angles, and axis-angle representations. By utilizing Openclaw Skills like this one, engineers can leverage optimized NumPy-based implementations for both single-pose calculations and large-scale trajectory processing.
pywayne-vio-se3 Use Cases
- Developing SLAM (Simultaneous Localization and Mapping) systems for autonomous robots.
- Calibrating camera-to-world transformations in computer vision pipelines.
- Processing and smoothing robot trajectories using intrinsic mean calculations.
- Implementing motion control algorithms that require Lie group and Lie algebra mappings.
- Transforming 3D point clouds between different coordinate frames in real-time.
How pywayne-vio-se3 Works
- Define 3D rotation and translation components using standard NumPy arrays or specific orientation formats.
- Construct SE(3) transformation matrices using helper functions to ensure mathematical validity.
- Compose multiple transformations through matrix multiplication to resolve nested coordinate systems within Openclaw Skills workflows.
- Map SE(3) matrices to se(3) Lie algebra vectors for optimization tasks using the Log mapping.
- Convert Lie algebra vectors back to the SE(3) group using the Exp mapping for motion application.
- Utilize batch processing modes to handle thousands of transformations simultaneously for high-throughput data analysis.
pywayne-vio-se3 Setup
To integrate this capability into your project using Openclaw Skills, ensure you have the pywayne package installed in your Python environment.
pip install pywayne
Basic usage initialization:
import numpy as np
from pywayne.vio.SE3 import *
# Create a transformation matrix
T = SE3_from_Rt(np.eye(3), np.array([0, 0, 1]))
pywayne-vio-se3 Data Schema & Taxonomy
The library utilizes a standardized data structure to maintain consistency across Openclaw Skills integrations:
| Data Type | Structure | Description |
|---|---|---|
| SE(3) Matrix | 4x4 Array | Homogeneous transformation matrix for 3D pose. |
| se(3) Vector | 6D Vector | Lie algebra representation [rho, theta] (translation, rotation). |
| Rotation Matrix | 3x3 Array | Standard SO(3) matrix for orientation. |
| Quaternions | 4D Vector | wxyz format for stable 3D rotation representation. |
| Euler Angles | 3D Vector | Representation in zyx or custom axes with intrinsic/extrinsic support. |
pywayne-vio-se3 Advanced Features
- Vectorized batch processing support for all core functions to maximize performance on large datasets.
- Intrinsic SE(3) mean calculation for finding the average pose of a trajectory accurately.
- Full support for both vector (Uppercase) and matrix (lowercase) Lie algebra forms.
- Numerically stable Log and Exp mappings optimized for Openclaw Skills applications.
- Flexible relative motion computation via the SE3_diff utility.
SKILL.md
Loading
Related Openclaw Skills
Pywayne Visualization Rerun Utils
A set of static 3D visualization utilities built on the Rerun SDK for logging point clouds, trajectories, and robot poses.
Pywayne Plot
A professional-grade visualization toolkit for high-precision time-frequency analysis and enhanced spectrogram generation.
Pywayne Visualization Pangolin Utils
A high-performance Python wrapper for the Pangolin library designed for real-time 3D visualization of robotics and spatial data.
Pywayne Maths
A specialized library of mathematical utilities for number theory, digit analysis, and optimized large integer multiplication using the Karatsuba algorithm.
Shell Shortcuts
A cross-platform collection of terminal functions to standardize proxy management, directory navigation, and GPU monitoring across all operating systems.
Pywayne VIO SO3
A comprehensive Python toolkit for SO(3) rotation matrix manipulation, Lie algebra mapping, and multi-representation conversions.
Featured*
