# Send Pywayne Vio Se3 to your agent Hand the extracted package to your coding agent with a concrete install brief instead of figuring it out manually. ## Fast path - 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. ## Suggested prompts ### New install ```text 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. ``` ### Upgrade existing ```text 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. ``` ## Machine-readable fields ```json { "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": { "downloadUrl": "/downloads/se3", "sourceDownloadUrl": "https://wry-manatee-359.convex.site/api/v1/download?slug=se3", "sourcePlatform": "tencent", "targetPlatform": "OpenClaw", "packageFormat": "ZIP package", "primaryDoc": "SKILL.md", "includedAssets": [ "SKILL.md" ], "downloadMode": "redirect", "sourceHealth": { "source": "tencent", "slug": "se3", "status": "healthy", "reason": "direct_download_ok", "recommendedAction": "download", "checkedAt": "2026-05-03T07:49:31.769Z", "expiresAt": "2026-05-10T07:49:31.769Z", "httpStatus": 200, "finalUrl": "https://wry-manatee-359.convex.site/api/v1/download?slug=se3", "contentType": "application/zip", "probeMethod": "head", "details": { "probeUrl": "https://wry-manatee-359.convex.site/api/v1/download?slug=se3", "contentDisposition": "attachment; filename=\"se3-0.1.0.zip\"", "redirectLocation": null, "bodySnippet": null, "slug": "se3" }, "scope": "item", "summary": "Item download looks usable.", "detail": "Yavira can redirect you to the upstream package for this item.", "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." ] } }, "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" } } ``` ## Documentation ### Quick Start import numpy as np from pywayne.vio.SE3 import * # Create SE(3) transformation from rotation and translation R = np.eye(3) t = np.array([1, 2, 3]) T = SE3_from_Rt(R, t) # Lie algebra operations xi = np.array([0.1, 0.2, 0.3, 0.05, 0.1, 0.15]) # [rho, theta] T_from_xi = SE3_Exp(xi) # se(3) vector -> SE(3) xi_recovered = SE3_Log(T_from_xi) # SE(3) -> se(3) vector ### Basic Matrix Operations Create/Verify SE(3) matrices: check_SE3(T) - Validate 4x4 matrix is valid SE(3) SE3_from_Rt(R, t) - Construct from rotation matrix and translation SE3_to_Rt(T) - Extract rotation matrix and translation vector Combine/invert transformations: SE3_mul(T1, T2) - Matrix multiplication (compose transforms) SE3_inv(T) - Matrix inverse SE3_diff(T1, T2, from_1_to_2=True) - Compute relative transform ### Lie Group/Lie Algebra Mappings Vector form (preferred): SE3_Exp(xi) - se(3) 6D vector -> SE(3) matrix, xi = [rho, theta] SE3_Log(T) - SE(3) matrix -> se(3) 6D vector Matrix form (theoretical): SE3_exp(xi_hat) - se(3) 4x4 matrix -> SE(3) matrix SE3_log(T) - SE(3) matrix -> se(3) 4x4 matrix SE3_skew(xi) - 6D vector -> 4x4 Lie algebra matrix SE3_unskew(xi_hat) - 4x4 matrix -> 6D vector Naming convention: Uppercase = vector, lowercase = matrix ### Representation Conversions Quaternion + translation: SE3_from_quat_trans(q, t) - q is wxyz quaternion SE3_to_quat_trans(T) - Returns (quaternion, translation) Axis-angle + translation: SE3_from_axis_angle_trans(axis, angle, t) SE3_to_axis_angle_trans(T) - Returns (axis, angle, translation) Euler angles + translation: SE3_from_euler_trans(euler_angles, t, axes='zyx', intrinsic=True) SE3_to_euler_trans(T, axes='zyx', intrinsic=True) ### Statistical Operations SE3_mean(T_batch) - Compute mean of multiple SE(3) matrices (Nx4x4 -> 4x4) ### Input/Output Formats Single transformation: Input: 4x4 or 3x3/3 arrays Output: 4x4 or scalar vectors Batch operations: Input: Nx4x4 or Nx3x3/Nx3 arrays Output: Same batched format All functions support both single and batch inputs 6D vector format: [rho_1, rho_2, rho_3, theta_1, theta_2, theta_3] First 3: translation (linear velocity) Last 3: rotation (angular velocity) ### Trajectory Processing # Batch process robot trajectory poses = np.array([...]) # Nx4x4 log_poses = SE3_Log(poses) # Nx6 Lie algebra space mean_pose = SE3_Exp(np.mean(log_poses, axis=0)) # Intrinsic mean ### Relative Motion # Relative transform between two poses T_rel = SE3_diff(T_world_keyframe1, T_world_keyframe2) # T_rel transforms points from frame2 to frame1 ### Camera Pose Estimation # Camera to world transformation R_cam = np.column_stack([right, up, forward]) # Camera axes t_cam = camera_position T_cam2world = SE3_from_Rt(R_cam, t_cam) T_world2cam = SE3_inv(T_cam2world) ### Notes All angles in radians Right-multiply convention: P' = T @ P Numerically stable for large angles and displacements Batch operations use vectorized NumPy for efficiency Performance reference (1000 transforms): Exp ~2.5ms, Log ~0.8ms ## Trust - Source: tencent - Verification: Indexed source record - Publisher: wangyendt - Version: 0.1.0 ## Source health - Status: healthy - Item download looks usable. - Yavira can redirect you to the upstream package for this item. - Health scope: item - Reason: direct_download_ok - Checked at: 2026-05-03T07:49:31.769Z - Expires at: 2026-05-10T07:49:31.769Z - Recommended action: Download for OpenClaw ## Links - [Detail page](https://openagent3.xyz/skills/se3) - [Send to Agent page](https://openagent3.xyz/skills/se3/agent) - [JSON manifest](https://openagent3.xyz/skills/se3/agent.json) - [Markdown brief](https://openagent3.xyz/skills/se3/agent.md) - [Download page](https://openagent3.xyz/downloads/se3)