{"id":45183,"library":"jaxlie","title":"jaxlie","description":"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).","status":"active","version":"1.5.0","language":"python","source_language":"en","source_url":"https://github.com/brentyi/jaxlie","tags":["lie-groups","jax","robotics","geometry"],"install":[{"cmd":"pip install jaxlie","lang":"bash","label":"Install with pip"}],"dependencies":[{"reason":"Core backend for array operations and autodiff.","package":"jax","optional":false},{"reason":"JAX runtime (often needed for GPU support).","package":"jaxlib","optional":true}],"imports":[{"note":"In jaxlie <1.0, groups were under jaxlie.group. Now top-level.","wrong":"from jaxlie.group import SE3","symbol":"SE3","correct":"from jaxlie import SE3, SO3"},{"note":"No commonly wrong import, but avoid mixing with older internal paths.","wrong":"from jaxlie import SO3 as SO3_old","symbol":"SO3","correct":"from jaxlie import SO3"}],"quickstart":{"code":"import jaxlie\nfrom jaxlie import SE3, SO3\n\n# Create a random SO3 element\nimport jax.random as jr\nkey = jr.PRNGKey(0)\nR = SO3.sample(key)\nprint(R.wxyz_xyz)  # quaternion and translation\n\n# Compose with SE3\nT = SE3.identity()\nT = T @ SE3.from_rotation_and_translation(R, jr.normal(key, (3,)))\nprint(T.as_matrix())","lang":"python","description":"Basic usage: sample a random SO3, create an SE3 from rotation+translation, and multiply."},"warnings":[{"fix":"Change imports to `from jaxlie import SO3, SE3`.","message":"jaxlie 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.","severity":"breaking","affected_versions":">=1.0.0"},{"fix":"Use `SE3.wxyz_xyz` with caution; prefer `SE3.as_quaternion()` and `SE3.translation()` if available.","message":"The `wxyz_xyz` property returns a tuple (quaternion, translation) for SE3. In future versions it may be renamed or removed in favor of explicit methods.","severity":"deprecated","affected_versions":"all"},{"fix":"Split keys properly: `key, subkey = jr.split(key)` before each sample.","message":"jaxlie 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.","severity":"gotcha","affected_versions":"all"}],"env_vars":null,"search_vec":"'1.5.0':24 '2024':37 '3.8':27 'acceler':21 'automat':17 'cadenc':31 'current':22 'differenti':18 'etc':12 'geometri':43 'gpu':20 'group':9,40 'implement':13 'irregular':33 'jax':15,29,41 'jaxli':1,2 'jul':36 'last':34 'librari':5 'lie':8,39 'lie-group':38 'matrix':7 'python':26 'releas':30,35 'requir':25 'robot':42 'se3':11 'so3':10 'support':16 'version':23","created_at":"2026-06-07T12:53:46.646033+00:00","updated_at":"2026-06-07T12:53:46.646033+00:00","problems":[{"fix":"Use `from jaxlie import SE3` instead.","cause":"jaxlie v1.0+ removed the .group submodule.","error":"ImportError: cannot import name 'SE3' from 'jaxlie.group'"},{"fix":"Upgrade to jaxlie >=1.0 or use `T.as_matrix()` (v1.0+) or `T.hom_matrix()` (older).","cause":"In jaxlie <1.0, the method was called `hom_matrix` or `as_matrix` was not yet added.","error":"AttributeError: 'SE3' object has no attribute 'as_matrix'"},{"fix":"Use SE3.identity() or SE3.from_rotation_and_translation(rot, trans) to create SE3 elements.","cause":"SE3() constructor was changed in v1.0 to accept parameters differently.","error":"TypeError: requires 2 positional arguments but 1 was given (when calling SE3())"}],"ecosystem":"pypi","meta_description":null,"install_score":null,"quickstart_score":null,"quickstart_tag":null,"pypi_latest":null,"cli_name":null,"cli_version":null,"type":"library","homepage":"http://github.com/brentyi/jaxlie","github":"http://github.com/brentyi/jaxlie","docs":null,"changelog":null,"pypi":null,"npm":null,"openapi_spec":null,"status_page":null,"smithery":null,"categories":["ai-ml"],"base_url":null,"auth_type":null,"provenance":{"verified_status":"passing","verified_at":"2026-06-29","last_verified":"2026-06-29","next_check":"2026-07-29","install_tag":null}}