{
  "schemaVersion": "1.0",
  "item": {
    "slug": "se3",
    "name": "Pywayne Vio Se3",
    "source": "tencent",
    "type": "skill",
    "category": "AI 智能",
    "sourceUrl": "https://clawhub.ai/wangyendt/se3",
    "canonicalUrl": "https://clawhub.ai/wangyendt/se3",
    "targetPlatform": "OpenClaw"
  },
  "install": {
    "downloadMode": "redirect",
    "downloadUrl": "/downloads/se3",
    "sourceDownloadUrl": "https://wry-manatee-359.convex.site/api/v1/download?slug=se3",
    "sourcePlatform": "tencent",
    "targetPlatform": "OpenClaw",
    "installMethod": "Manual import",
    "extraction": "Extract archive",
    "prerequisites": [
      "OpenClaw"
    ],
    "packageFormat": "ZIP package",
    "includedAssets": [
      "SKILL.md"
    ],
    "primaryDoc": "SKILL.md",
    "quickSetup": [
      "Download the package from Yavira.",
      "Extract the archive and review SKILL.md first.",
      "Import or place the package into your OpenClaw setup."
    ],
    "agentAssist": {
      "summary": "Hand the extracted package to your coding agent with a concrete install brief instead of figuring it out manually.",
      "steps": [
        "Download the package from Yavira.",
        "Extract it into a folder your agent can access.",
        "Paste one of the prompts below and point your agent at the extracted folder."
      ],
      "prompts": [
        {
          "label": "New install",
          "body": "I downloaded a skill package from Yavira. Read SKILL.md from the extracted folder and install it by following the included instructions. Tell me what you changed and call out any manual steps you could not complete."
        },
        {
          "label": "Upgrade existing",
          "body": "I downloaded an updated skill package from Yavira. Read SKILL.md from the extracted folder, compare it with my current installation, and upgrade it while preserving any custom configuration unless the package docs explicitly say otherwise. Summarize what changed and any follow-up checks I should run."
        }
      ]
    },
    "sourceHealth": {
      "source": "tencent",
      "status": "healthy",
      "reason": "direct_download_ok",
      "recommendedAction": "download",
      "checkedAt": "2026-04-30T16:55:25.780Z",
      "expiresAt": "2026-05-07T16:55:25.780Z",
      "httpStatus": 200,
      "finalUrl": "https://wry-manatee-359.convex.site/api/v1/download?slug=network",
      "contentType": "application/zip",
      "probeMethod": "head",
      "details": {
        "probeUrl": "https://wry-manatee-359.convex.site/api/v1/download?slug=network",
        "contentDisposition": "attachment; filename=\"network-1.0.0.zip\"",
        "redirectLocation": null,
        "bodySnippet": null
      },
      "scope": "source",
      "summary": "Source download looks usable.",
      "detail": "Yavira can redirect you to the upstream package for this source.",
      "primaryActionLabel": "Download for OpenClaw",
      "primaryActionHref": "/downloads/se3"
    },
    "validation": {
      "installChecklist": [
        "Use the Yavira download entry.",
        "Review SKILL.md after the package is downloaded.",
        "Confirm the extracted package contains the expected setup assets."
      ],
      "postInstallChecks": [
        "Confirm the extracted package includes the expected docs or setup files.",
        "Validate the skill or prompts are available in your target agent workspace.",
        "Capture any manual follow-up steps the agent could not complete."
      ]
    },
    "downloadPageUrl": "https://openagent3.xyz/downloads/se3",
    "agentPageUrl": "https://openagent3.xyz/skills/se3/agent",
    "manifestUrl": "https://openagent3.xyz/skills/se3/agent.json",
    "briefUrl": "https://openagent3.xyz/skills/se3/agent.md"
  },
  "agentAssist": {
    "summary": "Hand the extracted package to your coding agent with a concrete install brief instead of figuring it out manually.",
    "steps": [
      "Download the package from Yavira.",
      "Extract it into a folder your agent can access.",
      "Paste one of the prompts below and point your agent at the extracted folder."
    ],
    "prompts": [
      {
        "label": "New install",
        "body": "I downloaded a skill package from Yavira. Read SKILL.md from the extracted folder and install it by following the included instructions. Tell me what you changed and call out any manual steps you could not complete."
      },
      {
        "label": "Upgrade existing",
        "body": "I downloaded an updated skill package from Yavira. Read SKILL.md from the extracted folder, compare it with my current installation, and upgrade it while preserving any custom configuration unless the package docs explicitly say otherwise. Summarize what changed and any follow-up checks I should run."
      }
    ]
  },
  "documentation": {
    "source": "clawhub",
    "primaryDoc": "SKILL.md",
    "sections": [
      {
        "title": "Quick Start",
        "body": "import numpy as np\nfrom pywayne.vio.SE3 import *\n\n# Create SE(3) transformation from rotation and translation\nR = np.eye(3)\nt = np.array([1, 2, 3])\nT = SE3_from_Rt(R, t)\n\n# Lie algebra operations\nxi = np.array([0.1, 0.2, 0.3, 0.05, 0.1, 0.15])  # [rho, theta]\nT_from_xi = SE3_Exp(xi)  # se(3) vector -> SE(3)\nxi_recovered = SE3_Log(T_from_xi)  # SE(3) -> se(3) vector"
      },
      {
        "title": "Basic Matrix Operations",
        "body": "Create/Verify SE(3) matrices:\n\ncheck_SE3(T) - Validate 4x4 matrix is valid SE(3)\nSE3_from_Rt(R, t) - Construct from rotation matrix and translation\nSE3_to_Rt(T) - Extract rotation matrix and translation vector\n\nCombine/invert transformations:\n\nSE3_mul(T1, T2) - Matrix multiplication (compose transforms)\nSE3_inv(T) - Matrix inverse\nSE3_diff(T1, T2, from_1_to_2=True) - Compute relative transform"
      },
      {
        "title": "Lie Group/Lie Algebra Mappings",
        "body": "Vector form (preferred):\n\nSE3_Exp(xi) - se(3) 6D vector -> SE(3) matrix, xi = [rho, theta]\nSE3_Log(T) - SE(3) matrix -> se(3) 6D vector\n\nMatrix form (theoretical):\n\nSE3_exp(xi_hat) - se(3) 4x4 matrix -> SE(3) matrix\nSE3_log(T) - SE(3) matrix -> se(3) 4x4 matrix\nSE3_skew(xi) - 6D vector -> 4x4 Lie algebra matrix\nSE3_unskew(xi_hat) - 4x4 matrix -> 6D vector\n\nNaming convention: Uppercase = vector, lowercase = matrix"
      },
      {
        "title": "Representation Conversions",
        "body": "Quaternion + translation:\n\nSE3_from_quat_trans(q, t) - q is wxyz quaternion\nSE3_to_quat_trans(T) - Returns (quaternion, translation)\n\nAxis-angle + translation:\n\nSE3_from_axis_angle_trans(axis, angle, t)\nSE3_to_axis_angle_trans(T) - Returns (axis, angle, translation)\n\nEuler angles + translation:\n\nSE3_from_euler_trans(euler_angles, t, axes='zyx', intrinsic=True)\nSE3_to_euler_trans(T, axes='zyx', intrinsic=True)"
      },
      {
        "title": "Statistical Operations",
        "body": "SE3_mean(T_batch) - Compute mean of multiple SE(3) matrices (Nx4x4 -> 4x4)"
      },
      {
        "title": "Input/Output Formats",
        "body": "Single transformation:\n\nInput: 4x4 or 3x3/3 arrays\nOutput: 4x4 or scalar vectors\n\nBatch operations:\n\nInput: Nx4x4 or Nx3x3/Nx3 arrays\nOutput: Same batched format\nAll functions support both single and batch inputs\n\n6D vector format: [rho_1, rho_2, rho_3, theta_1, theta_2, theta_3]\n\nFirst 3: translation (linear velocity)\nLast 3: rotation (angular velocity)"
      },
      {
        "title": "Trajectory Processing",
        "body": "# Batch process robot trajectory\nposes = np.array([...])  # Nx4x4\nlog_poses = SE3_Log(poses)  # Nx6 Lie algebra space\nmean_pose = SE3_Exp(np.mean(log_poses, axis=0))  # Intrinsic mean"
      },
      {
        "title": "Relative Motion",
        "body": "# Relative transform between two poses\nT_rel = SE3_diff(T_world_keyframe1, T_world_keyframe2)\n# T_rel transforms points from frame2 to frame1"
      },
      {
        "title": "Camera Pose Estimation",
        "body": "# Camera to world transformation\nR_cam = np.column_stack([right, up, forward])  # Camera axes\nt_cam = camera_position\nT_cam2world = SE3_from_Rt(R_cam, t_cam)\nT_world2cam = SE3_inv(T_cam2world)"
      },
      {
        "title": "Notes",
        "body": "All angles in radians\nRight-multiply convention: P' = T @ P\nNumerically stable for large angles and displacements\nBatch operations use vectorized NumPy for efficiency\nPerformance reference (1000 transforms): Exp ~2.5ms, Log ~0.8ms"
      }
    ],
    "body": "SE3 Rigid Body Transformations\nQuick Start\nimport numpy as np\nfrom pywayne.vio.SE3 import *\n\n# Create SE(3) transformation from rotation and translation\nR = np.eye(3)\nt = np.array([1, 2, 3])\nT = SE3_from_Rt(R, t)\n\n# Lie algebra operations\nxi = np.array([0.1, 0.2, 0.3, 0.05, 0.1, 0.15])  # [rho, theta]\nT_from_xi = SE3_Exp(xi)  # se(3) vector -> SE(3)\nxi_recovered = SE3_Log(T_from_xi)  # SE(3) -> se(3) vector\n\nCore Operations\nBasic Matrix Operations\n\nCreate/Verify SE(3) matrices:\n\ncheck_SE3(T) - Validate 4x4 matrix is valid SE(3)\nSE3_from_Rt(R, t) - Construct from rotation matrix and translation\nSE3_to_Rt(T) - Extract rotation matrix and translation vector\n\nCombine/invert transformations:\n\nSE3_mul(T1, T2) - Matrix multiplication (compose transforms)\nSE3_inv(T) - Matrix inverse\nSE3_diff(T1, T2, from_1_to_2=True) - Compute relative transform\nLie Group/Lie Algebra Mappings\n\nVector form (preferred):\n\nSE3_Exp(xi) - se(3) 6D vector -> SE(3) matrix, xi = [rho, theta]\nSE3_Log(T) - SE(3) matrix -> se(3) 6D vector\n\nMatrix form (theoretical):\n\nSE3_exp(xi_hat) - se(3) 4x4 matrix -> SE(3) matrix\nSE3_log(T) - SE(3) matrix -> se(3) 4x4 matrix\nSE3_skew(xi) - 6D vector -> 4x4 Lie algebra matrix\nSE3_unskew(xi_hat) - 4x4 matrix -> 6D vector\n\nNaming convention: Uppercase = vector, lowercase = matrix\n\nRepresentation Conversions\n\nQuaternion + translation:\n\nSE3_from_quat_trans(q, t) - q is wxyz quaternion\nSE3_to_quat_trans(T) - Returns (quaternion, translation)\n\nAxis-angle + translation:\n\nSE3_from_axis_angle_trans(axis, angle, t)\nSE3_to_axis_angle_trans(T) - Returns (axis, angle, translation)\n\nEuler angles + translation:\n\nSE3_from_euler_trans(euler_angles, t, axes='zyx', intrinsic=True)\nSE3_to_euler_trans(T, axes='zyx', intrinsic=True)\nStatistical Operations\nSE3_mean(T_batch) - Compute mean of multiple SE(3) matrices (Nx4x4 -> 4x4)\nInput/Output Formats\n\nSingle transformation:\n\nInput: 4x4 or 3x3/3 arrays\nOutput: 4x4 or scalar vectors\n\nBatch operations:\n\nInput: Nx4x4 or Nx3x3/Nx3 arrays\nOutput: Same batched format\nAll functions support both single and batch inputs\n\n6D vector format: [rho_1, rho_2, rho_3, theta_1, theta_2, theta_3]\n\nFirst 3: translation (linear velocity)\nLast 3: rotation (angular velocity)\nCommon Patterns\nTrajectory Processing\n# Batch process robot trajectory\nposes = np.array([...])  # Nx4x4\nlog_poses = SE3_Log(poses)  # Nx6 Lie algebra space\nmean_pose = SE3_Exp(np.mean(log_poses, axis=0))  # Intrinsic mean\n\nRelative Motion\n# Relative transform between two poses\nT_rel = SE3_diff(T_world_keyframe1, T_world_keyframe2)\n# T_rel transforms points from frame2 to frame1\n\nCamera Pose Estimation\n# Camera to world transformation\nR_cam = np.column_stack([right, up, forward])  # Camera axes\nt_cam = camera_position\nT_cam2world = SE3_from_Rt(R_cam, t_cam)\nT_world2cam = SE3_inv(T_cam2world)\n\nNotes\nAll angles in radians\nRight-multiply convention: P' = T @ P\nNumerically stable for large angles and displacements\nBatch operations use vectorized NumPy for efficiency\nPerformance reference (1000 transforms): Exp ~2.5ms, Log ~0.8ms"
  },
  "trust": {
    "sourceLabel": "tencent",
    "provenanceUrl": "https://clawhub.ai/wangyendt/se3",
    "publisherUrl": "https://clawhub.ai/wangyendt/se3",
    "owner": "wangyendt",
    "version": "0.1.0",
    "license": null,
    "verificationStatus": "Indexed source record"
  },
  "links": {
    "detailUrl": "https://openagent3.xyz/skills/se3",
    "downloadUrl": "https://openagent3.xyz/downloads/se3",
    "agentUrl": "https://openagent3.xyz/skills/se3/agent",
    "manifestUrl": "https://openagent3.xyz/skills/se3/agent.json",
    "briefUrl": "https://openagent3.xyz/skills/se3/agent.md"
  }
}