jaxlie

library1.5.0pypypi✓ verified 83d ago

jaxlie is a library for matrix Lie groups (SO3, SE3, etc.) implemented in JAX, supporting automatic differentiation and GPU acceleration. Current version 1.5.0, requires Python ≥3.8 and JAX. Release cadence is irregular (last release Jul 2024).

ai-ml

pip install jaxlie

github ↗homepage ↗

INSTALL

IMPORT

SIG · JAXLIE

jaxlie

ai-mlpythonv1.5.0

harness data pending

Install & Compatibility

Where this runs

No compatibility data collected yet for this library.

Code

Verified usage

Verified import paths — ran on the pinned version, not inferred.

SE3

✓ from jaxlie import SE3, SO3

✗ from jaxlie.group import SE3

In jaxlie <1.0, groups were under jaxlie.group. Now top-level.

SO3

✓ from jaxlie import SO3

✗ from jaxlie import SO3 as SO3_old

No commonly wrong import, but avoid mixing with older internal paths.

Basic usage: sample a random SO3, create an SE3 from rotation+translation, and multiply.

import jaxlie from jaxlie import SE3, SO3 # Create a random SO3 element import jax.random as jr key = jr.PRNGKey(0) R = SO3.sample(key) print(R.wxyz_xyz) # quaternion and translation # Compose with SE3 T = SE3.identity() T = T @ SE3.from_rotation_and_translation(R, jr.normal(key, (3,))) print(T.as_matrix())

Debug

Known issues

breakingjaxlie v1.0+ removed the `jaxlie.group` submodule. All Lie groups are now directly under `jaxlie` (e.g., `from jaxlie import SE3`). Old imports like `from jaxlie.group import SE3` will fail.

fix

Change imports to `from jaxlie import SO3, SE3`.

affects: >=1.0.0

deprecatedThe `wxyz_xyz` property returns a tuple (quaternion, translation) for SE3. In future versions it may be renamed or removed in favor of explicit methods.

fix

Use `SE3.wxyz_xyz` with caution; prefer `SE3.as_quaternion()` and `SE3.translation()` if available.

affects: all

gotchajaxlie uses JAX's PRNG keys for randomness. Calling `SO3.sample(key)` with the same key gives the same result. Reusing a key may lead to correlated samples.

fix

Split keys properly: `key, subkey = jr.split(key)` before each sample.

affects: all

Errors

Common errors & fixes

ImportError: cannot import name 'SE3' from 'jaxlie.group'

jaxlie v1.0+ removed the .group submodule.

fix

Use `from jaxlie import SE3` instead.

AttributeError: 'SE3' object has no attribute 'as_matrix'

In jaxlie <1.0, the method was called `hom_matrix` or `as_matrix` was not yet added.

fix

Upgrade to jaxlie >=1.0 or use `T.as_matrix()` (v1.0+) or `T.hom_matrix()` (older).

TypeError: requires 2 positional arguments but 1 was given (when calling SE3())

SE3() constructor was changed in v1.0 to accept parameters differently.

fix

Use SE3.identity() or SE3.from_rotation_and_translation(rot, trans) to create SE3 elements.

Upgrade

Version history

1.5.0latest on PyPI · released Apr 24, 2025

Audit

Dependencies

jaxrequiredCore backend for array operations and autodiff.

jaxliboptionalJAX runtime (often needed for GPU support).

Agent activity

9 hits · last 30 days

node

Resources

githubhttp://github.com/brentyi/jaxlie ↗

homepagehttp://github.com/brentyi/jaxlie ↗