Tinygrad Lie Groups

Experimental port of the excellent jaxlie to tinygrad.

Installation

cd tglie
uv pip install -e .

Quick Demo

import tglie

# Create SE3 transformation
pose = tglie.SE3.identity()
rotation = tglie.SO3.from_quaternion([0.0, 0.0, 0.0, 1.0])
translation = [1.0, 2.0, 3.0]

transform = tglie.SE3.from_rotation_and_translation(rotation, translation)

# Apply transformation to points
point = [0.0, 0.0, 0.0]
transformed_point = transform @ point

print(f"Original: {point}")
print(f"Transformed: {transformed_point}")