Blackwell 0.0.2

Blackwell 0.0.2 adds SE(3) geometry and uncertainty propagation for 3D transforms and points.

Install or upgrade:

python -m pip install --upgrade blackwell==0.0.2

SE(3) support

• Composition, inverse, point action, exponential/logarithm, right retraction, local coordinates, adjoint and covariance transport in blackwell.spaces.se3.
• Poses use [x, y, z, qx, qy, qz, qw] with Hamilton quaternions in xyzw order. Covariance uses six body tangent coordinates: translation rho, then rotation phi.
• Generic JAX differentiation supports transform composition/inversion and point transformation, including explicit cross-covariances for correlated inputs.
• Existing Gaussian and particle belief containers and filter kernels remain compatible.

Validation

All 91 tests pass on the supported Linux/macOS CI configurations. Local checks also covered the built wheel with minimum-supported JAX 0.6.0, float32/float64 geometry, forward/reverse differentiation, principal-logarithm boundaries and equivalent quaternion signs.

A seeded 50,000-point Monte Carlo experiment differs from the first-order covariance by 0.69%; discarding correlation raises the error to approximately 29%. The principal logarithm remains discontinuous at 180° and Gaussian propagation is a local approximation.

Documentation

• SE(3) API and conventions
• Correlated uncertainty example
• Roadmap and release scope

This release advances the wider v0.1 plan. GPU/Jetson validation, additional spaces, richer evaluation metrics and inertial models remain future work.

Full changes