From 9018fd4ba0aa2dcee4888753910e3842084ef3cd Mon Sep 17 00:00:00 2001
From: brentyi <brentyi@users.noreply.github.com>
Date: Mon, 6 May 2024 18:06:20 +0000
Subject: [PATCH] deploy: 6340183b7801f6dc76af73010d1526b62303e1b4

---
 .doctrees/environment.pickle               | Bin 17656402 -> 17814713 bytes
 .doctrees/transforms.doctree               | Bin 707321 -> 826676 bytes
 _modules/viser/infra/_infra/index.html     |  12 +-
 _modules/viser/transforms/_base/index.html |  24 +--
 _modules/viser/transforms/_se2/index.html  |  16 +-
 _modules/viser/transforms/_se3/index.html  |  16 +-
 _modules/viser/transforms/_so2/index.html  |  10 +-
 _modules/viser/transforms/_so3/index.html  |  27 +++-
 transforms/index.html                      | 180 +++++++++++----------
 9 files changed, 150 insertions(+), 135 deletions(-)

diff --git a/.doctrees/environment.pickle b/.doctrees/environment.pickle
index f0a9378cba2b3a7f7a3569a7673a706939bae0dc..173fa2eefe2a491648625a03014b88fe7ddaa33c 100644
GIT binary patch
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diff --git a/.doctrees/transforms.doctree b/.doctrees/transforms.doctree
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diff --git a/_modules/viser/infra/_infra/index.html b/_modules/viser/infra/_infra/index.html
index 3281dce54..d731634c1 100644
--- a/_modules/viser/infra/_infra/index.html
+++ b/_modules/viser/infra/_infra/index.html
@@ -266,17 +266,7 @@ <h1>Source code for viser.infra._infra</h1><div class="highlight"><pre>
 <span class="kn">from</span> <span class="nn">asyncio.events</span> <span class="kn">import</span> <span class="n">AbstractEventLoop</span>
 <span class="kn">from</span> <span class="nn">concurrent.futures</span> <span class="kn">import</span> <span class="n">ThreadPoolExecutor</span>
 <span class="kn">from</span> <span class="nn">pathlib</span> <span class="kn">import</span> <span class="n">Path</span>
-<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="p">(</span>
-    <span class="n">Any</span><span class="p">,</span>
-    <span class="n">Callable</span><span class="p">,</span>
-    <span class="n">Dict</span><span class="p">,</span>
-    <span class="n">List</span><span class="p">,</span>
-    <span class="n">NewType</span><span class="p">,</span>
-    <span class="n">Optional</span><span class="p">,</span>
-    <span class="n">Tuple</span><span class="p">,</span>
-    <span class="n">Type</span><span class="p">,</span>
-    <span class="n">TypeVar</span><span class="p">,</span>
-<span class="p">)</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Any</span><span class="p">,</span> <span class="n">Callable</span><span class="p">,</span> <span class="n">Dict</span><span class="p">,</span> <span class="n">List</span><span class="p">,</span> <span class="n">NewType</span><span class="p">,</span> <span class="n">Optional</span><span class="p">,</span> <span class="n">Tuple</span><span class="p">,</span> <span class="n">Type</span><span class="p">,</span> <span class="n">TypeVar</span>
 
 <span class="kn">import</span> <span class="nn">msgpack</span>
 <span class="kn">import</span> <span class="nn">rich</span>
diff --git a/_modules/viser/transforms/_base/index.html b/_modules/viser/transforms/_base/index.html
index 857e81db3..4306a5af0 100644
--- a/_modules/viser/transforms/_base/index.html
+++ b/_modules/viser/transforms/_base/index.html
@@ -301,22 +301,26 @@ <h1>Source code for viser.transforms._base</h1><div class="highlight"><pre>
     <span class="c1"># Shared implementations.</span>
 
     <span class="nd">@overload</span>
-    <span class="k">def</span> <span class="fm">__matmul__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">other</span><span class="p">:</span> <span class="n">Self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span> <span class="o">...</span>
+    <span class="k">def</span> <span class="fm">__matmul__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">other</span><span class="p">:</span> <span class="n">Self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span>
+        <span class="o">...</span>
 
     <span class="nd">@overload</span>
-    <span class="k">def</span> <span class="fm">__matmul__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">other</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]:</span> <span class="o">...</span>
+    <span class="k">def</span> <span class="fm">__matmul__</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">other</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]:</span>
+        <span class="o">...</span>
 
 <div class="viewcode-block" id="MatrixLieGroup.__matmul__">
 <a class="viewcode-back" href="../../../../transforms/#viser.transforms.MatrixLieGroup.__matmul__">[docs]</a>
     <span class="k">def</span> <span class="fm">__matmul__</span><span class="p">(</span>
-        <span class="bp">self</span><span class="p">,</span> <span class="n">other</span><span class="p">:</span> <span class="n">Union</span><span class="p">[</span><span class="n">Self</span><span class="p">,</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">]</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">other</span><span class="p">:</span> <span class="n">Union</span><span class="p">[</span><span class="n">Self</span><span class="p">,</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]]</span>
     <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Union</span><span class="p">[</span><span class="n">Self</span><span class="p">,</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]]:</span>
 <span class="w">        </span><span class="sd">&quot;&quot;&quot;Overload for the `@` operator.</span>
 
 <span class="sd">        Switches between the group action (`.apply()`) and multiplication</span>
 <span class="sd">        (`.multiply()`) based on the type of `other`.</span>
 <span class="sd">        &quot;&quot;&quot;</span>
-        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">other</span><span class="p">,</span> <span class="p">(</span><span class="n">onp</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span> <span class="n">onp</span><span class="o">.</span><span class="n">ndarray</span><span class="p">)):</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">other</span><span class="p">,</span> <span class="n">onp</span><span class="o">.</span><span class="n">ndarray</span><span class="p">):</span>
             <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">apply</span><span class="p">(</span><span class="n">target</span><span class="o">=</span><span class="n">other</span><span class="p">)</span>
         <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">other</span><span class="p">,</span> <span class="n">MatrixLieGroup</span><span class="p">):</span>
             <span class="k">assert</span> <span class="bp">self</span><span class="o">.</span><span class="n">space_dim</span> <span class="o">==</span> <span class="n">other</span><span class="o">.</span><span class="n">space_dim</span>
@@ -346,7 +350,7 @@ <h1>Source code for viser.transforms._base</h1><div class="highlight"><pre>
 <a class="viewcode-back" href="../../../../transforms/#viser.transforms.MatrixLieGroup.from_matrix">[docs]</a>
     <span class="nd">@classmethod</span>
     <span class="nd">@abc</span><span class="o">.</span><span class="n">abstractmethod</span>
-    <span class="k">def</span> <span class="nf">from_matrix</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">matrix</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span>
+    <span class="k">def</span> <span class="nf">from_matrix</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">matrix</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span>
 <span class="w">        </span><span class="sd">&quot;&quot;&quot;Get group member from matrix representation.</span>
 
 <span class="sd">        Args:</span>
@@ -378,7 +382,7 @@ <h1>Source code for viser.transforms._base</h1><div class="highlight"><pre>
 <div class="viewcode-block" id="MatrixLieGroup.apply">
 <a class="viewcode-back" href="../../../../transforms/#viser.transforms.MatrixLieGroup.apply">[docs]</a>
     <span class="nd">@abc</span><span class="o">.</span><span class="n">abstractmethod</span>
-    <span class="k">def</span> <span class="nf">apply</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">target</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]:</span>
+    <span class="k">def</span> <span class="nf">apply</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">target</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]:</span>
 <span class="w">        </span><span class="sd">&quot;&quot;&quot;Applies group action to a point.</span>
 
 <span class="sd">        Args:</span>
@@ -404,7 +408,7 @@ <h1>Source code for viser.transforms._base</h1><div class="highlight"><pre>
 <a class="viewcode-back" href="../../../../transforms/#viser.transforms.MatrixLieGroup.exp">[docs]</a>
     <span class="nd">@classmethod</span>
     <span class="nd">@abc</span><span class="o">.</span><span class="n">abstractmethod</span>
-    <span class="k">def</span> <span class="nf">exp</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">tangent</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span>
+    <span class="k">def</span> <span class="nf">exp</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">tangent</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span>
 <span class="w">        </span><span class="sd">&quot;&quot;&quot;Computes `expm(wedge(tangent))`.</span>
 
 <span class="sd">        Args:</span>
@@ -523,7 +527,7 @@ <h1>Source code for viser.transforms._base</h1><div class="highlight"><pre>
     <span class="k">def</span> <span class="nf">from_rotation_and_translation</span><span class="p">(</span>
         <span class="bp">cls</span><span class="p">,</span>
         <span class="n">rotation</span><span class="p">:</span> <span class="n">ContainedSOType</span><span class="p">,</span>
-        <span class="n">translation</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">,</span>
+        <span class="n">translation</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">],</span>
     <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span>
 <span class="w">        </span><span class="sd">&quot;&quot;&quot;Construct a rigid transform from a rotation and a translation.</span>
 
@@ -554,7 +558,7 @@ <h1>Source code for viser.transforms._base</h1><div class="highlight"><pre>
 <a class="viewcode-back" href="../../../../transforms/#viser.transforms.SEBase.from_translation">[docs]</a>
     <span class="nd">@final</span>
     <span class="nd">@classmethod</span>
-    <span class="k">def</span> <span class="nf">from_translation</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">translation</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span>
+    <span class="k">def</span> <span class="nf">from_translation</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">translation</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span>
         <span class="c1"># Extract rotation class from type parameter.</span>
         <span class="k">assert</span> <span class="nb">len</span><span class="p">(</span><span class="bp">cls</span><span class="o">.</span><span class="n">__orig_bases__</span><span class="p">)</span> <span class="o">==</span> <span class="mi">1</span>  <span class="c1"># type: ignore</span>
         <span class="k">return</span> <span class="bp">cls</span><span class="o">.</span><span class="n">from_rotation_and_translation</span><span class="p">(</span>
@@ -583,7 +587,7 @@ <h1>Source code for viser.transforms._base</h1><div class="highlight"><pre>
 <a class="viewcode-back" href="../../../../transforms/#viser.transforms.SEBase.apply">[docs]</a>
     <span class="nd">@final</span>
     <span class="nd">@override</span>
-    <span class="k">def</span> <span class="nf">apply</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">target</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]:</span>
+    <span class="k">def</span> <span class="nf">apply</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">target</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]:</span>
         <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">rotation</span><span class="p">()</span> <span class="o">@</span> <span class="n">target</span> <span class="o">+</span> <span class="bp">self</span><span class="o">.</span><span class="n">translation</span><span class="p">()</span>  <span class="c1"># type: ignore</span></div>
 
 
diff --git a/_modules/viser/transforms/_se2/index.html b/_modules/viser/transforms/_se2/index.html
index 068ff9206..f4314ab02 100644
--- a/_modules/viser/transforms/_se2/index.html
+++ b/_modules/viser/transforms/_se2/index.html
@@ -281,6 +281,8 @@ <h1>Source code for viser.transforms._se2</h1><div class="highlight"><pre>
 <span class="w">    </span><span class="sd">&quot;&quot;&quot;Special Euclidean group for proper rigid transforms in 2D. Broadcasting</span>
 <span class="sd">    rules are the same as for numpy.</span>
 
+<span class="sd">    Ported to numpy from `jaxlie.SE2`.</span>
+
 <span class="sd">    Internal parameterization is `(cos, sin, x, y)`. Tangent parameterization is `(vx,</span>
 <span class="sd">    vy, omega)`.</span>
 <span class="sd">    &quot;&quot;&quot;</span>
@@ -288,7 +290,7 @@ <h1>Source code for viser.transforms._se2</h1><div class="highlight"><pre>
     <span class="c1"># SE2-specific.</span>
 
     <span class="n">unit_complex_xy</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]</span>
-<span class="w">    </span><span class="sd">&quot;&quot;&quot;Internal parameters. `(cos, sin, x, y)`. Shape should be `(*, 3)`.&quot;&quot;&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Internal parameters. `(cos, sin, x, y)`. Shape should be `(*, 4)`.&quot;&quot;&quot;</span>
 
     <span class="nd">@override</span>
     <span class="k">def</span> <span class="fm">__repr__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
@@ -302,7 +304,7 @@ <h1>Source code for viser.transforms._se2</h1><div class="highlight"><pre>
     <span class="k">def</span> <span class="nf">from_xy_theta</span><span class="p">(</span><span class="n">x</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Scalar</span><span class="p">,</span> <span class="n">y</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Scalar</span><span class="p">,</span> <span class="n">theta</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Scalar</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="s2">&quot;SE2&quot;</span><span class="p">:</span>
 <span class="w">        </span><span class="sd">&quot;&quot;&quot;Construct a transformation from standard 2D pose parameters.</span>
 
-<span class="sd">        Note that this is not the same as integrating over a length-3 twist.</span>
+<span class="sd">        This is not the same as integrating over a length-3 twist.</span>
 <span class="sd">        &quot;&quot;&quot;</span>
         <span class="n">cos</span> <span class="o">=</span> <span class="n">onp</span><span class="o">.</span><span class="n">cos</span><span class="p">(</span><span class="n">theta</span><span class="p">)</span>
         <span class="n">sin</span> <span class="o">=</span> <span class="n">onp</span><span class="o">.</span><span class="n">sin</span><span class="p">(</span><span class="n">theta</span><span class="p">)</span>
@@ -318,7 +320,7 @@ <h1>Source code for viser.transforms._se2</h1><div class="highlight"><pre>
     <span class="k">def</span> <span class="nf">from_rotation_and_translation</span><span class="p">(</span>
         <span class="bp">cls</span><span class="p">,</span>
         <span class="n">rotation</span><span class="p">:</span> <span class="n">SO2</span><span class="p">,</span>
-        <span class="n">translation</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">,</span>
+        <span class="n">translation</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">],</span>
     <span class="p">)</span> <span class="o">-&gt;</span> <span class="s2">&quot;SE2&quot;</span><span class="p">:</span>
         <span class="k">assert</span> <span class="n">translation</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">:]</span> <span class="o">==</span> <span class="p">(</span><span class="mi">2</span><span class="p">,)</span>
         <span class="n">rotation</span><span class="p">,</span> <span class="n">translation</span> <span class="o">=</span> <span class="n">broadcast_leading_axes</span><span class="p">((</span><span class="n">rotation</span><span class="p">,</span> <span class="n">translation</span><span class="p">))</span>
@@ -361,7 +363,7 @@ <h1>Source code for viser.transforms._se2</h1><div class="highlight"><pre>
 <a class="viewcode-back" href="../../../../transforms/#viser.transforms.SE2.from_matrix">[docs]</a>
     <span class="nd">@classmethod</span>
     <span class="nd">@override</span>
-    <span class="k">def</span> <span class="nf">from_matrix</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">matrix</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="s2">&quot;SE2&quot;</span><span class="p">:</span>
+    <span class="k">def</span> <span class="nf">from_matrix</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">matrix</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="s2">&quot;SE2&quot;</span><span class="p">:</span>
         <span class="k">assert</span> <span class="n">matrix</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="o">-</span><span class="mi">2</span><span class="p">:]</span> <span class="o">==</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span>
         <span class="c1"># Currently assumes bottom row is [0, 0, 1].</span>
         <span class="k">return</span> <span class="n">SE2</span><span class="o">.</span><span class="n">from_rotation_and_translation</span><span class="p">(</span>
@@ -407,7 +409,7 @@ <h1>Source code for viser.transforms._se2</h1><div class="highlight"><pre>
 <a class="viewcode-back" href="../../../../transforms/#viser.transforms.SE2.exp">[docs]</a>
     <span class="nd">@classmethod</span>
     <span class="nd">@override</span>
-    <span class="k">def</span> <span class="nf">exp</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">tangent</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="s2">&quot;SE2&quot;</span><span class="p">:</span>
+    <span class="k">def</span> <span class="nf">exp</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">tangent</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="s2">&quot;SE2&quot;</span><span class="p">:</span>
         <span class="c1"># Reference:</span>
         <span class="c1"># &gt; https://github.com/strasdat/Sophus/blob/a0fe89a323e20c42d3cecb590937eb7a06b8343a/sophus/se2.hpp#L558</span>
         <span class="c1"># Also see:</span>
@@ -419,7 +421,7 @@ <h1>Source code for viser.transforms._se2</h1><div class="highlight"><pre>
         <span class="n">use_taylor</span> <span class="o">=</span> <span class="n">onp</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">theta</span><span class="p">)</span> <span class="o">&lt;</span> <span class="n">get_epsilon</span><span class="p">(</span><span class="n">tangent</span><span class="o">.</span><span class="n">dtype</span><span class="p">)</span>
 
         <span class="c1"># Shim to avoid NaNs in onp.where branches, which cause failures for</span>
-        <span class="c1"># reverse-mode AD.</span>
+        <span class="c1"># reverse-mode AD in JAX. This isn&#39;t needed for vanilla numpy.</span>
         <span class="n">safe_theta</span> <span class="o">=</span> <span class="n">cast</span><span class="p">(</span>
             <span class="n">onp</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span>
             <span class="n">onp</span><span class="o">.</span><span class="n">where</span><span class="p">(</span>
@@ -479,7 +481,7 @@ <h1>Source code for viser.transforms._se2</h1><div class="highlight"><pre>
         <span class="n">use_taylor</span> <span class="o">=</span> <span class="n">onp</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">cos_minus_one</span><span class="p">)</span> <span class="o">&lt;</span> <span class="n">get_epsilon</span><span class="p">(</span><span class="n">theta</span><span class="o">.</span><span class="n">dtype</span><span class="p">)</span>
 
         <span class="c1"># Shim to avoid NaNs in onp.where branches, which cause failures for</span>
-        <span class="c1"># reverse-mode AD.</span>
+        <span class="c1"># reverse-mode AD in JAX. This isn&#39;t needed for vanilla numpy.</span>
         <span class="n">safe_cos_minus_one</span> <span class="o">=</span> <span class="n">onp</span><span class="o">.</span><span class="n">where</span><span class="p">(</span>
             <span class="n">use_taylor</span><span class="p">,</span>
             <span class="n">onp</span><span class="o">.</span><span class="n">ones_like</span><span class="p">(</span><span class="n">cos_minus_one</span><span class="p">),</span>  <span class="c1"># Any non-zero value should do here.</span>
diff --git a/_modules/viser/transforms/_se3/index.html b/_modules/viser/transforms/_se3/index.html
index acc1873c5..8f441a333 100644
--- a/_modules/viser/transforms/_se3/index.html
+++ b/_modules/viser/transforms/_se3/index.html
@@ -265,12 +265,12 @@ <h1>Source code for viser.transforms._se3</h1><div class="highlight"><pre>
 <span class="kn">import</span> <span class="nn">numpy.typing</span> <span class="k">as</span> <span class="nn">onpt</span>
 <span class="kn">from</span> <span class="nn">typing_extensions</span> <span class="kn">import</span> <span class="n">override</span>
 
-<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">_base</span><span class="p">,</span> <span class="n">hints</span>
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">_base</span>
 <span class="kn">from</span> <span class="nn">._so3</span> <span class="kn">import</span> <span class="n">SO3</span>
 <span class="kn">from</span> <span class="nn">.utils</span> <span class="kn">import</span> <span class="n">broadcast_leading_axes</span><span class="p">,</span> <span class="n">get_epsilon</span><span class="p">,</span> <span class="n">register_lie_group</span>
 
 
-<span class="k">def</span> <span class="nf">_skew</span><span class="p">(</span><span class="n">omega</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]:</span>
+<span class="k">def</span> <span class="nf">_skew</span><span class="p">(</span><span class="n">omega</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]:</span>
 <span class="w">    </span><span class="sd">&quot;&quot;&quot;Returns the skew-symmetric form of a length-3 vector.&quot;&quot;&quot;</span>
 
     <span class="n">wx</span><span class="p">,</span> <span class="n">wy</span><span class="p">,</span> <span class="n">wz</span> <span class="o">=</span> <span class="n">onp</span><span class="o">.</span><span class="n">moveaxis</span><span class="p">(</span><span class="n">omega</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">)</span>
@@ -294,6 +294,8 @@ <h1>Source code for viser.transforms._se3</h1><div class="highlight"><pre>
 <span class="w">    </span><span class="sd">&quot;&quot;&quot;Special Euclidean group for proper rigid transforms in 3D. Broadcasting</span>
 <span class="sd">    rules are the same as for numpy.</span>
 
+<span class="sd">    Ported to numpy from `jaxlie.SE3`.</span>
+
 <span class="sd">    Internal parameterization is `(qw, qx, qy, qz, x, y, z)`. Tangent parameterization</span>
 <span class="sd">    is `(vx, vy, vz, omega_x, omega_y, omega_z)`.</span>
 <span class="sd">    &quot;&quot;&quot;</span>
@@ -318,7 +320,7 @@ <h1>Source code for viser.transforms._se3</h1><div class="highlight"><pre>
     <span class="k">def</span> <span class="nf">from_rotation_and_translation</span><span class="p">(</span>
         <span class="bp">cls</span><span class="p">,</span>
         <span class="n">rotation</span><span class="p">:</span> <span class="n">SO3</span><span class="p">,</span>
-        <span class="n">translation</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">,</span>
+        <span class="n">translation</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">],</span>
     <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">SE3</span><span class="p">:</span>
         <span class="k">assert</span> <span class="n">translation</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">:]</span> <span class="o">==</span> <span class="p">(</span><span class="mi">3</span><span class="p">,)</span>
         <span class="n">rotation</span><span class="p">,</span> <span class="n">translation</span> <span class="o">=</span> <span class="n">broadcast_leading_axes</span><span class="p">((</span><span class="n">rotation</span><span class="p">,</span> <span class="n">translation</span><span class="p">))</span>
@@ -357,7 +359,7 @@ <h1>Source code for viser.transforms._se3</h1><div class="highlight"><pre>
 <a class="viewcode-back" href="../../../../transforms/#viser.transforms.SE3.from_matrix">[docs]</a>
     <span class="nd">@classmethod</span>
     <span class="nd">@override</span>
-    <span class="k">def</span> <span class="nf">from_matrix</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">matrix</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">SE3</span><span class="p">:</span>
+    <span class="k">def</span> <span class="nf">from_matrix</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">matrix</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">SE3</span><span class="p">:</span>
         <span class="k">assert</span> <span class="n">matrix</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="o">-</span><span class="mi">2</span><span class="p">:]</span> <span class="o">==</span> <span class="p">(</span><span class="mi">4</span><span class="p">,</span> <span class="mi">4</span><span class="p">)</span>
         <span class="c1"># Currently assumes bottom row is [0, 0, 0, 1].</span>
         <span class="k">return</span> <span class="n">SE3</span><span class="o">.</span><span class="n">from_rotation_and_translation</span><span class="p">(</span>
@@ -392,7 +394,7 @@ <h1>Source code for viser.transforms._se3</h1><div class="highlight"><pre>
 <a class="viewcode-back" href="../../../../transforms/#viser.transforms.SE3.exp">[docs]</a>
     <span class="nd">@classmethod</span>
     <span class="nd">@override</span>
-    <span class="k">def</span> <span class="nf">exp</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">tangent</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">SE3</span><span class="p">:</span>
+    <span class="k">def</span> <span class="nf">exp</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">tangent</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">SE3</span><span class="p">:</span>
         <span class="c1"># Reference:</span>
         <span class="c1"># &gt; https://github.com/strasdat/Sophus/blob/a0fe89a323e20c42d3cecb590937eb7a06b8343a/sophus/se3.hpp#L761</span>
 
@@ -405,7 +407,7 @@ <h1>Source code for viser.transforms._se3</h1><div class="highlight"><pre>
         <span class="n">use_taylor</span> <span class="o">=</span> <span class="n">theta_squared</span> <span class="o">&lt;</span> <span class="n">get_epsilon</span><span class="p">(</span><span class="n">theta_squared</span><span class="o">.</span><span class="n">dtype</span><span class="p">)</span>
 
         <span class="c1"># Shim to avoid NaNs in onp.where branches, which cause failures for</span>
-        <span class="c1"># reverse-mode AD.</span>
+        <span class="c1"># reverse-mode AD in JAX. This isn&#39;t needed for vanilla numpy.</span>
         <span class="n">theta_squared_safe</span> <span class="o">=</span> <span class="n">cast</span><span class="p">(</span>
             <span class="n">onp</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span>
             <span class="n">onp</span><span class="o">.</span><span class="n">where</span><span class="p">(</span>
@@ -452,7 +454,7 @@ <h1>Source code for viser.transforms._se3</h1><div class="highlight"><pre>
         <span class="n">skew_omega</span> <span class="o">=</span> <span class="n">_skew</span><span class="p">(</span><span class="n">omega</span><span class="p">)</span>
 
         <span class="c1"># Shim to avoid NaNs in onp.where branches, which cause failures for</span>
-        <span class="c1"># reverse-mode AD.</span>
+        <span class="c1"># reverse-mode AD in JAX. This isn&#39;t needed for vanilla numpy.</span>
         <span class="n">theta_squared_safe</span> <span class="o">=</span> <span class="n">onp</span><span class="o">.</span><span class="n">where</span><span class="p">(</span>
             <span class="n">use_taylor</span><span class="p">,</span>
             <span class="n">onp</span><span class="o">.</span><span class="n">ones_like</span><span class="p">(</span><span class="n">theta_squared</span><span class="p">),</span>  <span class="c1"># Any non-zero value should do here.</span>
diff --git a/_modules/viser/transforms/_so2/index.html b/_modules/viser/transforms/_so2/index.html
index c873eed7f..c0a0a02fb 100644
--- a/_modules/viser/transforms/_so2/index.html
+++ b/_modules/viser/transforms/_so2/index.html
@@ -280,7 +280,9 @@ <h1>Source code for viser.transforms._so2</h1><div class="highlight"><pre>
 <span class="nd">@dataclasses</span><span class="o">.</span><span class="n">dataclass</span><span class="p">(</span><span class="n">frozen</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
 <span class="k">class</span> <span class="nc">SO2</span><span class="p">(</span><span class="n">_base</span><span class="o">.</span><span class="n">SOBase</span><span class="p">):</span>
 <span class="w">    </span><span class="sd">&quot;&quot;&quot;Special orthogonal group for 2D rotations. Broadcasting rules are the</span>
-<span class="sd">    same as for `numpy`.</span>
+<span class="sd">    same as for numpy.</span>
+
+<span class="sd">    Ported to numpy from `jaxlie.SO2`.</span>
 
 <span class="sd">    Internal parameterization is `(cos, sin)`. Tangent parameterization is `(omega,)`.</span>
 <span class="sd">    &quot;&quot;&quot;</span>
@@ -331,7 +333,7 @@ <h1>Source code for viser.transforms._so2</h1><div class="highlight"><pre>
 <a class="viewcode-back" href="../../../../transforms/#viser.transforms.SO2.from_matrix">[docs]</a>
     <span class="nd">@classmethod</span>
     <span class="nd">@override</span>
-    <span class="k">def</span> <span class="nf">from_matrix</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">matrix</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">SO2</span><span class="p">:</span>
+    <span class="k">def</span> <span class="nf">from_matrix</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">matrix</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">SO2</span><span class="p">:</span>
         <span class="k">assert</span> <span class="n">matrix</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="o">-</span><span class="mi">2</span><span class="p">:]</span> <span class="o">==</span> <span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="mi">2</span><span class="p">)</span>
         <span class="k">return</span> <span class="n">SO2</span><span class="p">(</span><span class="n">unit_complex</span><span class="o">=</span><span class="n">onp</span><span class="o">.</span><span class="n">asarray</span><span class="p">(</span><span class="n">matrix</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:,</span> <span class="mi">0</span><span class="p">]))</span></div>
 
@@ -368,7 +370,7 @@ <h1>Source code for viser.transforms._so2</h1><div class="highlight"><pre>
 <div class="viewcode-block" id="SO2.apply">
 <a class="viewcode-back" href="../../../../transforms/#viser.transforms.SO2.apply">[docs]</a>
     <span class="nd">@override</span>
-    <span class="k">def</span> <span class="nf">apply</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">target</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]:</span>
+    <span class="k">def</span> <span class="nf">apply</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">target</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]:</span>
         <span class="k">assert</span> <span class="n">target</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">:]</span> <span class="o">==</span> <span class="p">(</span><span class="mi">2</span><span class="p">,)</span>
         <span class="bp">self</span><span class="p">,</span> <span class="n">target</span> <span class="o">=</span> <span class="n">broadcast_leading_axes</span><span class="p">((</span><span class="bp">self</span><span class="p">,</span> <span class="n">target</span><span class="p">))</span>
         <span class="k">return</span> <span class="n">onp</span><span class="o">.</span><span class="n">einsum</span><span class="p">(</span><span class="s2">&quot;...ij,...j-&gt;...i&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">as_matrix</span><span class="p">(),</span> <span class="n">target</span><span class="p">)</span></div>
@@ -389,7 +391,7 @@ <h1>Source code for viser.transforms._so2</h1><div class="highlight"><pre>
 <a class="viewcode-back" href="../../../../transforms/#viser.transforms.SO2.exp">[docs]</a>
     <span class="nd">@classmethod</span>
     <span class="nd">@override</span>
-    <span class="k">def</span> <span class="nf">exp</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">tangent</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">SO2</span><span class="p">:</span>
+    <span class="k">def</span> <span class="nf">exp</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">tangent</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">SO2</span><span class="p">:</span>
         <span class="k">assert</span> <span class="n">tangent</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">==</span> <span class="mi">1</span>
         <span class="n">cos</span> <span class="o">=</span> <span class="n">onp</span><span class="o">.</span><span class="n">cos</span><span class="p">(</span><span class="n">tangent</span><span class="p">)</span>
         <span class="n">sin</span> <span class="o">=</span> <span class="n">onp</span><span class="o">.</span><span class="n">sin</span><span class="p">(</span><span class="n">tangent</span><span class="p">)</span>
diff --git a/_modules/viser/transforms/_so3/index.html b/_modules/viser/transforms/_so3/index.html
index 46c7ec6f5..9ae01e6fb 100644
--- a/_modules/viser/transforms/_so3/index.html
+++ b/_modules/viser/transforms/_so3/index.html
@@ -269,6 +269,15 @@ <h1>Source code for viser.transforms._so3</h1><div class="highlight"><pre>
 <span class="kn">from</span> <span class="nn">.utils</span> <span class="kn">import</span> <span class="n">broadcast_leading_axes</span><span class="p">,</span> <span class="n">get_epsilon</span><span class="p">,</span> <span class="n">register_lie_group</span>
 
 
+<span class="nd">@dataclasses</span><span class="o">.</span><span class="n">dataclass</span><span class="p">(</span><span class="n">frozen</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+<span class="k">class</span> <span class="nc">RollPitchYaw</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Struct containing roll, pitch, and yaw Euler angles.&quot;&quot;&quot;</span>
+
+    <span class="n">roll</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]</span>
+    <span class="n">pitch</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]</span>
+    <span class="n">yaw</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]</span>
+
+
 <div class="viewcode-block" id="SO3">
 <a class="viewcode-back" href="../../../../transforms/#viser.transforms.SO3">[docs]</a>
 <span class="nd">@register_lie_group</span><span class="p">(</span>
@@ -282,6 +291,8 @@ <h1>Source code for viser.transforms._so3</h1><div class="highlight"><pre>
 <span class="w">    </span><span class="sd">&quot;&quot;&quot;Special orthogonal group for 3D rotations. Broadcasting rules are the same as</span>
 <span class="sd">    for numpy.</span>
 
+<span class="sd">    Ported to numpy from `jaxlie.SO3`.</span>
+
 <span class="sd">    Internal parameterization is `(qw, qx, qy, qz)`. Tangent parameterization is</span>
 <span class="sd">    `(omega_x, omega_y, omega_z)`.</span>
 <span class="sd">    &quot;&quot;&quot;</span>
@@ -371,7 +382,7 @@ <h1>Source code for viser.transforms._so3</h1><div class="highlight"><pre>
 
 
     <span class="nd">@staticmethod</span>
-    <span class="k">def</span> <span class="nf">from_quaternion_xyzw</span><span class="p">(</span><span class="n">xyzw</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">SO3</span><span class="p">:</span>
+    <span class="k">def</span> <span class="nf">from_quaternion_xyzw</span><span class="p">(</span><span class="n">xyzw</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">SO3</span><span class="p">:</span>
 <span class="w">        </span><span class="sd">&quot;&quot;&quot;Construct a rotation from an `xyzw` quaternion.</span>
 
 <span class="sd">        Note that `wxyz` quaternions can be constructed using the default dataclass</span>
@@ -396,13 +407,13 @@ <h1>Source code for viser.transforms._so3</h1><div class="highlight"><pre>
 
 <div class="viewcode-block" id="SO3.as_rpy_radians">
 <a class="viewcode-back" href="../../../../transforms/#viser.transforms.SO3.as_rpy_radians">[docs]</a>
-    <span class="k">def</span> <span class="nf">as_rpy_radians</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">hints</span><span class="o">.</span><span class="n">RollPitchYaw</span><span class="p">:</span>
+    <span class="k">def</span> <span class="nf">as_rpy_radians</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">RollPitchYaw</span><span class="p">:</span>
 <span class="w">        </span><span class="sd">&quot;&quot;&quot;Computes roll, pitch, and yaw angles. Uses the ZYX mobile robot convention.</span>
 
 <span class="sd">        Returns:</span>
 <span class="sd">            Named tuple containing Euler angles in radians.</span>
 <span class="sd">        &quot;&quot;&quot;</span>
-        <span class="k">return</span> <span class="n">hints</span><span class="o">.</span><span class="n">RollPitchYaw</span><span class="p">(</span>
+        <span class="k">return</span> <span class="n">RollPitchYaw</span><span class="p">(</span>
             <span class="n">roll</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">compute_roll_radians</span><span class="p">(),</span>
             <span class="n">pitch</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">compute_pitch_radians</span><span class="p">(),</span>
             <span class="n">yaw</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">compute_yaw_radians</span><span class="p">(),</span>
@@ -464,7 +475,7 @@ <h1>Source code for viser.transforms._so3</h1><div class="highlight"><pre>
 <a class="viewcode-back" href="../../../../transforms/#viser.transforms.SO3.from_matrix">[docs]</a>
     <span class="nd">@classmethod</span>
     <span class="nd">@override</span>
-    <span class="k">def</span> <span class="nf">from_matrix</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">matrix</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">SO3</span><span class="p">:</span>
+    <span class="k">def</span> <span class="nf">from_matrix</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">matrix</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">SO3</span><span class="p">:</span>
         <span class="k">assert</span> <span class="n">matrix</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="o">-</span><span class="mi">2</span><span class="p">:]</span> <span class="o">==</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span>
 
         <span class="c1"># Modified from:</span>
@@ -603,7 +614,7 @@ <h1>Source code for viser.transforms._so3</h1><div class="highlight"><pre>
 <div class="viewcode-block" id="SO3.apply">
 <a class="viewcode-back" href="../../../../transforms/#viser.transforms.SO3.apply">[docs]</a>
     <span class="nd">@override</span>
-    <span class="k">def</span> <span class="nf">apply</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">target</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]:</span>
+    <span class="k">def</span> <span class="nf">apply</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">target</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]:</span>
         <span class="k">assert</span> <span class="n">target</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">:]</span> <span class="o">==</span> <span class="p">(</span><span class="mi">3</span><span class="p">,)</span>
         <span class="bp">self</span><span class="p">,</span> <span class="n">target</span> <span class="o">=</span> <span class="n">broadcast_leading_axes</span><span class="p">((</span><span class="bp">self</span><span class="p">,</span> <span class="n">target</span><span class="p">))</span>
 
@@ -637,7 +648,7 @@ <h1>Source code for viser.transforms._so3</h1><div class="highlight"><pre>
 <a class="viewcode-back" href="../../../../transforms/#viser.transforms.SO3.exp">[docs]</a>
     <span class="nd">@classmethod</span>
     <span class="nd">@override</span>
-    <span class="k">def</span> <span class="nf">exp</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">tangent</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">SO3</span><span class="p">:</span>
+    <span class="k">def</span> <span class="nf">exp</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">tangent</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">SO3</span><span class="p">:</span>
         <span class="c1"># Reference:</span>
         <span class="c1"># &gt; https://github.com/strasdat/Sophus/blob/a0fe89a323e20c42d3cecb590937eb7a06b8343a/sophus/so3.hpp#L583</span>
 
@@ -648,7 +659,7 @@ <h1>Source code for viser.transforms._so3</h1><div class="highlight"><pre>
         <span class="n">use_taylor</span> <span class="o">=</span> <span class="n">theta_squared</span> <span class="o">&lt;</span> <span class="n">get_epsilon</span><span class="p">(</span><span class="n">tangent</span><span class="o">.</span><span class="n">dtype</span><span class="p">)</span>
 
         <span class="c1"># Shim to avoid NaNs in onp.where branches, which cause failures for</span>
-        <span class="c1"># reverse-mode AD.</span>
+        <span class="c1"># reverse-mode AD in JAX. This isn&#39;t needed for vanilla numpy.</span>
         <span class="n">safe_theta</span> <span class="o">=</span> <span class="n">onp</span><span class="o">.</span><span class="n">sqrt</span><span class="p">(</span>
             <span class="n">onp</span><span class="o">.</span><span class="n">where</span><span class="p">(</span>
                 <span class="n">use_taylor</span><span class="p">,</span>
@@ -693,7 +704,7 @@ <h1>Source code for viser.transforms._so3</h1><div class="highlight"><pre>
         <span class="n">use_taylor</span> <span class="o">=</span> <span class="n">norm_sq</span> <span class="o">&lt;</span> <span class="n">get_epsilon</span><span class="p">(</span><span class="n">norm_sq</span><span class="o">.</span><span class="n">dtype</span><span class="p">)</span>
 
         <span class="c1"># Shim to avoid NaNs in onp.where branches, which cause failures for</span>
-        <span class="c1"># reverse-mode AD.</span>
+        <span class="c1"># reverse-mode AD in JAX. This isn&#39;t needed for vanilla numpy.</span>
         <span class="n">norm_safe</span> <span class="o">=</span> <span class="n">onp</span><span class="o">.</span><span class="n">sqrt</span><span class="p">(</span>
             <span class="n">onp</span><span class="o">.</span><span class="n">where</span><span class="p">(</span>
                 <span class="n">use_taylor</span><span class="p">,</span>
diff --git a/transforms/index.html b/transforms/index.html
index 58c95d0f3..94faa6e99 100644
--- a/transforms/index.html
+++ b/transforms/index.html
@@ -297,7 +297,7 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 <dt class="sig sig-object py" id="viser.transforms.MatrixLieGroup.__matmul__">
 <span class="sig-name descname"><span class="pre">__matmul__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Self</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="reference internal" href="../_modules/viser/transforms/_base/#MatrixLieGroup.__matmul__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.MatrixLieGroup.__matmul__" title="Link to this definition">#</a></dt>
 <dt class="sig sig-object py">
-<span class="sig-name descname"><span class="pre">__matmul__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span></dt>
+<span class="sig-name descname"><span class="pre">__matmul__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span></dt>
 <dd><p>Overload for the <code class="docutils literal notranslate"><span class="pre">&#64;</span></code> operator.</p>
 <p>Switches between the group action (<code class="docutils literal notranslate"><span class="pre">.apply()</span></code>) and multiplication
 (<code class="docutils literal notranslate"><span class="pre">.multiply()</span></code>) based on the type of <code class="docutils literal notranslate"><span class="pre">other</span></code>.</p>
@@ -322,11 +322,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.MatrixLieGroup.from_matrix">
-<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">matrix</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="reference internal" href="../_modules/viser/transforms/_base/#MatrixLieGroup.from_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.MatrixLieGroup.from_matrix" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">matrix</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="reference internal" href="../_modules/viser/transforms/_base/#MatrixLieGroup.from_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.MatrixLieGroup.from_matrix" title="Link to this definition">#</a></dt>
 <dd><p>Get group member from matrix representation.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>matrix</strong> (<em>ndarray</em>) – Matrix representaiton.</p>
+<dd class="field-odd"><p><strong>matrix</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Matrix representaiton.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Group member.</p>
@@ -361,11 +361,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.MatrixLieGroup.apply">
-<em class="property"><span class="pre">abstract</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">apply</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">target</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../_modules/viser/transforms/_base/#MatrixLieGroup.apply"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.MatrixLieGroup.apply" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">abstract</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">apply</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">target</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../_modules/viser/transforms/_base/#MatrixLieGroup.apply"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.MatrixLieGroup.apply" title="Link to this definition">#</a></dt>
 <dd><p>Applies group action to a point.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>target</strong> (<em>ndarray</em>) – Point to transform.</p>
+<dd class="field-odd"><p><strong>target</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Point to transform.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Transformed point.</p>
@@ -395,11 +395,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.MatrixLieGroup.exp">
-<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">exp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tangent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="reference internal" href="../_modules/viser/transforms/_base/#MatrixLieGroup.exp"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.MatrixLieGroup.exp" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">exp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tangent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="reference internal" href="../_modules/viser/transforms/_base/#MatrixLieGroup.exp"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.MatrixLieGroup.exp" title="Link to this definition">#</a></dt>
 <dd><p>Computes <code class="docutils literal notranslate"><span class="pre">expm(wedge(tangent))</span></code>.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>tangent</strong> (<em>ndarray</em>) – Tangent vector to take the exponential of.</p>
+<dd class="field-odd"><p><strong>tangent</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Tangent vector to take the exponential of.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Output.</p>
@@ -497,13 +497,13 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 translation vector.</p>
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SEBase.from_rotation_and_translation">
-<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_rotation_and_translation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">rotation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ContainedSOType</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="reference internal" href="../_modules/viser/transforms/_base/#SEBase.from_rotation_and_translation"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SEBase.from_rotation_and_translation" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_rotation_and_translation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">rotation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ContainedSOType</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="reference internal" href="../_modules/viser/transforms/_base/#SEBase.from_rotation_and_translation"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SEBase.from_rotation_and_translation" title="Link to this definition">#</a></dt>
 <dd><p>Construct a rigid transform from a rotation and a translation.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
 <dd class="field-odd"><ul class="simple">
 <li><p><strong>rotation</strong> (<em>ContainedSOType</em>) – Rotation term.</p></li>
-<li><p><strong>translation</strong> (<em>ndarray</em>) – translation term.</p></li>
+<li><p><strong>translation</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – translation term.</p></li>
 </ul>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
@@ -530,10 +530,10 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SEBase.from_translation">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_translation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="reference internal" href="../_modules/viser/transforms/_base/#SEBase.from_translation"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SEBase.from_translation" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_translation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="reference internal" href="../_modules/viser/transforms/_base/#SEBase.from_translation"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SEBase.from_translation" title="Link to this definition">#</a></dt>
 <dd><dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>translation</strong> (<em>ndarray</em>) – </p>
+<dd class="field-odd"><p><strong>translation</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – </p>
 </dd>
 <dt class="field-even">Return type<span class="colon">:</span></dt>
 <dd class="field-even"><p><em>Self</em></p>
@@ -543,13 +543,13 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SEBase.__matmul__">
-<span class="sig-name descname"><span class="pre">__matmul__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#viser.transforms.SEBase.__matmul__" title="Link to this definition">#</a></dt>
+<span class="sig-name descname"><span class="pre">__matmul__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#viser.transforms.SEBase.__matmul__" title="Link to this definition">#</a></dt>
 <dd><p>Overload for the <code class="docutils literal notranslate"><span class="pre">&#64;</span></code> operator.</p>
 <p>Switches between the group action (<code class="docutils literal notranslate"><span class="pre">.apply()</span></code>) and multiplication
 (<code class="docutils literal notranslate"><span class="pre">.multiply()</span></code>) based on the type of <code class="docutils literal notranslate"><span class="pre">other</span></code>.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>other</strong> (<em>Self</em><em> | </em><em>ndarray</em>) – </p>
+<dd class="field-odd"><p><strong>other</strong> (<em>Self</em><em> | </em><em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – </p>
 </dd>
 <dt class="field-even">Return type<span class="colon">:</span></dt>
 <dd class="field-even"><p><em>Self</em> | <em>ndarray</em>[<em>Any</em>, <em>dtype</em>[<em>floating</em>]]</p>
@@ -591,11 +591,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SEBase.exp">
-<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">exp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tangent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="headerlink" href="#viser.transforms.SEBase.exp" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">exp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tangent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="headerlink" href="#viser.transforms.SEBase.exp" title="Link to this definition">#</a></dt>
 <dd><p>Computes <code class="docutils literal notranslate"><span class="pre">expm(wedge(tangent))</span></code>.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>tangent</strong> (<em>ndarray</em>) – Tangent vector to take the exponential of.</p>
+<dd class="field-odd"><p><strong>tangent</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Tangent vector to take the exponential of.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Output.</p>
@@ -608,11 +608,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SEBase.from_matrix">
-<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">matrix</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="headerlink" href="#viser.transforms.SEBase.from_matrix" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">matrix</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="headerlink" href="#viser.transforms.SEBase.from_matrix" title="Link to this definition">#</a></dt>
 <dd><p>Get group member from matrix representation.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>matrix</strong> (<em>ndarray</em>) – Matrix representaiton.</p>
+<dd class="field-odd"><p><strong>matrix</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Matrix representaiton.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Group member.</p>
@@ -726,11 +726,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SEBase.apply">
-<span class="sig-name descname"><span class="pre">apply</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">target</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../_modules/viser/transforms/_base/#SEBase.apply"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SEBase.apply" title="Link to this definition">#</a></dt>
+<span class="sig-name descname"><span class="pre">apply</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">target</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../_modules/viser/transforms/_base/#SEBase.apply"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SEBase.apply" title="Link to this definition">#</a></dt>
 <dd><p>Applies group action to a point.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>target</strong> (<em>ndarray</em>) – Point to transform.</p>
+<dd class="field-odd"><p><strong>target</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Point to transform.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Transformed point.</p>
@@ -795,13 +795,13 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 <p>Base class for special orthogonal groups.</p>
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SOBase.__matmul__">
-<span class="sig-name descname"><span class="pre">__matmul__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#viser.transforms.SOBase.__matmul__" title="Link to this definition">#</a></dt>
+<span class="sig-name descname"><span class="pre">__matmul__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#viser.transforms.SOBase.__matmul__" title="Link to this definition">#</a></dt>
 <dd><p>Overload for the <code class="docutils literal notranslate"><span class="pre">&#64;</span></code> operator.</p>
 <p>Switches between the group action (<code class="docutils literal notranslate"><span class="pre">.apply()</span></code>) and multiplication
 (<code class="docutils literal notranslate"><span class="pre">.multiply()</span></code>) based on the type of <code class="docutils literal notranslate"><span class="pre">other</span></code>.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>other</strong> (<em>Self</em><em> | </em><em>ndarray</em>) – </p>
+<dd class="field-odd"><p><strong>other</strong> (<em>Self</em><em> | </em><em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – </p>
 </dd>
 <dt class="field-even">Return type<span class="colon">:</span></dt>
 <dd class="field-even"><p><em>Self</em> | <em>ndarray</em>[<em>Any</em>, <em>dtype</em>[<em>floating</em>]]</p>
@@ -832,11 +832,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SOBase.apply">
-<em class="property"><span class="pre">abstract</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">apply</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">target</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#viser.transforms.SOBase.apply" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">abstract</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">apply</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">target</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#viser.transforms.SOBase.apply" title="Link to this definition">#</a></dt>
 <dd><p>Applies group action to a point.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>target</strong> (<em>ndarray</em>) – Point to transform.</p>
+<dd class="field-odd"><p><strong>target</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Point to transform.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Transformed point.</p>
@@ -860,11 +860,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SOBase.exp">
-<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">exp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tangent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="headerlink" href="#viser.transforms.SOBase.exp" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">exp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tangent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="headerlink" href="#viser.transforms.SOBase.exp" title="Link to this definition">#</a></dt>
 <dd><p>Computes <code class="docutils literal notranslate"><span class="pre">expm(wedge(tangent))</span></code>.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>tangent</strong> (<em>ndarray</em>) – Tangent vector to take the exponential of.</p>
+<dd class="field-odd"><p><strong>tangent</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Tangent vector to take the exponential of.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Output.</p>
@@ -877,11 +877,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SOBase.from_matrix">
-<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">matrix</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="headerlink" href="#viser.transforms.SOBase.from_matrix" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">matrix</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="headerlink" href="#viser.transforms.SOBase.from_matrix" title="Link to this definition">#</a></dt>
 <dd><p>Get group member from matrix representation.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>matrix</strong> (<em>ndarray</em>) – Matrix representaiton.</p>
+<dd class="field-odd"><p><strong>matrix</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Matrix representaiton.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Group member.</p>
@@ -1024,25 +1024,26 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 <dd><p>Bases: <a class="reference internal" href="#viser.transforms.SEBase" title="viser.transforms._base.SEBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">SEBase</span></code></a>[<a class="reference internal" href="#viser.transforms.SO2" title="viser.transforms._so2.SO2"><code class="xref py py-class docutils literal notranslate"><span class="pre">SO2</span></code></a>]</p>
 <p>Special Euclidean group for proper rigid transforms in 2D. Broadcasting
 rules are the same as for numpy.</p>
+<p>Ported to numpy from <code class="docutils literal notranslate"><span class="pre">jaxlie.SE2</span></code>.</p>
 <p>Internal parameterization is <code class="docutils literal notranslate"><span class="pre">(cos,</span> <span class="pre">sin,</span> <span class="pre">x,</span> <span class="pre">y)</span></code>. Tangent parameterization is <code class="docutils literal notranslate"><span class="pre">(vx,</span>
 <span class="pre">vy,</span> <span class="pre">omega)</span></code>.</p>
 <dl class="py attribute">
 <dt class="sig sig-object py" id="viser.transforms.SE2.unit_complex_xy">
 <span class="sig-name descname"><span class="pre">unit_complex_xy</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#viser.transforms.SE2.unit_complex_xy" title="Link to this definition">#</a></dt>
-<dd><p>Internal parameters. <code class="docutils literal notranslate"><span class="pre">(cos,</span> <span class="pre">sin,</span> <span class="pre">x,</span> <span class="pre">y)</span></code>. Shape should be <code class="docutils literal notranslate"><span class="pre">(*,</span> <span class="pre">3)</span></code>.</p>
+<dd><p>Internal parameters. <code class="docutils literal notranslate"><span class="pre">(cos,</span> <span class="pre">sin,</span> <span class="pre">x,</span> <span class="pre">y)</span></code>. Shape should be <code class="docutils literal notranslate"><span class="pre">(*,</span> <span class="pre">4)</span></code>.</p>
 </dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SE2.from_xy_theta">
-<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_xy_theta</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">y</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SE2" title="viser.transforms._se2.SE2"><span class="pre">SE2</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_se2/#SE2.from_xy_theta"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SE2.from_xy_theta" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_xy_theta</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">y</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SE2" title="viser.transforms._se2.SE2"><span class="pre">SE2</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_se2/#SE2.from_xy_theta"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SE2.from_xy_theta" title="Link to this definition">#</a></dt>
 <dd><p>Construct a transformation from standard 2D pose parameters.</p>
-<p>Note that this is not the same as integrating over a length-3 twist.</p>
+<p>This is not the same as integrating over a length-3 twist.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
 <dd class="field-odd"><ul class="simple">
-<li><p><strong>x</strong> (<em>float</em><em> | </em><em>ndarray</em>) – </p></li>
-<li><p><strong>y</strong> (<em>float</em><em> | </em><em>ndarray</em>) – </p></li>
-<li><p><strong>theta</strong> (<em>float</em><em> | </em><em>ndarray</em>) – </p></li>
+<li><p><strong>x</strong> (<em>float</em><em> | </em><em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – </p></li>
+<li><p><strong>y</strong> (<em>float</em><em> | </em><em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – </p></li>
+<li><p><strong>theta</strong> (<em>float</em><em> | </em><em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – </p></li>
 </ul>
 </dd>
 <dt class="field-even">Return type<span class="colon">:</span></dt>
@@ -1053,13 +1054,13 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SE2.from_rotation_and_translation">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_rotation_and_translation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">rotation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#viser.transforms.SO2" title="viser.transforms._so2.SO2"><span class="pre">SO2</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SE2" title="viser.transforms._se2.SE2"><span class="pre">SE2</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_se2/#SE2.from_rotation_and_translation"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SE2.from_rotation_and_translation" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_rotation_and_translation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">rotation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#viser.transforms.SO2" title="viser.transforms._so2.SO2"><span class="pre">SO2</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SE2" title="viser.transforms._se2.SE2"><span class="pre">SE2</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_se2/#SE2.from_rotation_and_translation"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SE2.from_rotation_and_translation" title="Link to this definition">#</a></dt>
 <dd><p>Construct a rigid transform from a rotation and a translation.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
 <dd class="field-odd"><ul class="simple">
 <li><p><strong>rotation</strong> (<a class="reference internal" href="#viser.transforms.SO2" title="viser.transforms._so2.SO2"><em>SO2</em></a>) – Rotation term.</p></li>
-<li><p><strong>translation</strong> (<em>ndarray</em>) – translation term.</p></li>
+<li><p><strong>translation</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – translation term.</p></li>
 </ul>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
@@ -1112,11 +1113,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SE2.from_matrix">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">matrix</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SE2" title="viser.transforms._se2.SE2"><span class="pre">SE2</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_se2/#SE2.from_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SE2.from_matrix" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">matrix</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SE2" title="viser.transforms._se2.SE2"><span class="pre">SE2</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_se2/#SE2.from_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SE2.from_matrix" title="Link to this definition">#</a></dt>
 <dd><p>Get group member from matrix representation.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>matrix</strong> (<em>ndarray</em>) – Matrix representaiton.</p>
+<dd class="field-odd"><p><strong>matrix</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Matrix representaiton.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Group member.</p>
@@ -1151,11 +1152,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SE2.exp">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">exp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tangent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SE2" title="viser.transforms._se2.SE2"><span class="pre">SE2</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_se2/#SE2.exp"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SE2.exp" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">exp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tangent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SE2" title="viser.transforms._se2.SE2"><span class="pre">SE2</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_se2/#SE2.exp"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SE2.exp" title="Link to this definition">#</a></dt>
 <dd><p>Computes <code class="docutils literal notranslate"><span class="pre">expm(wedge(tangent))</span></code>.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>tangent</strong> (<em>ndarray</em>) – Tangent vector to take the exponential of.</p>
+<dd class="field-odd"><p><strong>tangent</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Tangent vector to take the exponential of.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Output.</p>
@@ -1182,13 +1183,13 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SE2.__matmul__">
-<span class="sig-name descname"><span class="pre">__matmul__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#viser.transforms.SE2.__matmul__" title="Link to this definition">#</a></dt>
+<span class="sig-name descname"><span class="pre">__matmul__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#viser.transforms.SE2.__matmul__" title="Link to this definition">#</a></dt>
 <dd><p>Overload for the <code class="docutils literal notranslate"><span class="pre">&#64;</span></code> operator.</p>
 <p>Switches between the group action (<code class="docutils literal notranslate"><span class="pre">.apply()</span></code>) and multiplication
 (<code class="docutils literal notranslate"><span class="pre">.multiply()</span></code>) based on the type of <code class="docutils literal notranslate"><span class="pre">other</span></code>.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>other</strong> (<em>Self</em><em> | </em><em>ndarray</em>) – </p>
+<dd class="field-odd"><p><strong>other</strong> (<em>Self</em><em> | </em><em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – </p>
 </dd>
 <dt class="field-even">Return type<span class="colon">:</span></dt>
 <dd class="field-even"><p><em>Self</em> | <em>ndarray</em>[<em>Any</em>, <em>dtype</em>[<em>floating</em>]]</p>
@@ -1222,11 +1223,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SE2.apply">
-<span class="sig-name descname"><span class="pre">apply</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">target</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#viser.transforms.SE2.apply" title="Link to this definition">#</a></dt>
+<span class="sig-name descname"><span class="pre">apply</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">target</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#viser.transforms.SE2.apply" title="Link to this definition">#</a></dt>
 <dd><p>Applies group action to a point.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>target</strong> (<em>ndarray</em>) – Point to transform.</p>
+<dd class="field-odd"><p><strong>target</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Point to transform.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Transformed point.</p>
@@ -1252,10 +1253,10 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SE2.from_translation">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_translation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="headerlink" href="#viser.transforms.SE2.from_translation" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_translation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="headerlink" href="#viser.transforms.SE2.from_translation" title="Link to this definition">#</a></dt>
 <dd><dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>translation</strong> (<em>ndarray</em>) – </p>
+<dd class="field-odd"><p><strong>translation</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – </p>
 </dd>
 <dt class="field-even">Return type<span class="colon">:</span></dt>
 <dd class="field-even"><p><em>Self</em></p>
@@ -1353,6 +1354,7 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 <dd><p>Bases: <a class="reference internal" href="#viser.transforms.SEBase" title="viser.transforms._base.SEBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">SEBase</span></code></a>[<a class="reference internal" href="#viser.transforms.SO3" title="viser.transforms._so3.SO3"><code class="xref py py-class docutils literal notranslate"><span class="pre">SO3</span></code></a>]</p>
 <p>Special Euclidean group for proper rigid transforms in 3D. Broadcasting
 rules are the same as for numpy.</p>
+<p>Ported to numpy from <code class="docutils literal notranslate"><span class="pre">jaxlie.SE3</span></code>.</p>
 <p>Internal parameterization is <code class="docutils literal notranslate"><span class="pre">(qw,</span> <span class="pre">qx,</span> <span class="pre">qy,</span> <span class="pre">qz,</span> <span class="pre">x,</span> <span class="pre">y,</span> <span class="pre">z)</span></code>. Tangent parameterization
 is <code class="docutils literal notranslate"><span class="pre">(vx,</span> <span class="pre">vy,</span> <span class="pre">vz,</span> <span class="pre">omega_x,</span> <span class="pre">omega_y,</span> <span class="pre">omega_z)</span></code>.</p>
 <dl class="py attribute">
@@ -1363,13 +1365,13 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SE3.from_rotation_and_translation">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_rotation_and_translation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">rotation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#viser.transforms.SO3" title="viser.transforms._so3.SO3"><span class="pre">SO3</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SE3" title="viser.transforms._se3.SE3"><span class="pre">SE3</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_se3/#SE3.from_rotation_and_translation"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SE3.from_rotation_and_translation" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_rotation_and_translation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">rotation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#viser.transforms.SO3" title="viser.transforms._so3.SO3"><span class="pre">SO3</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SE3" title="viser.transforms._se3.SE3"><span class="pre">SE3</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_se3/#SE3.from_rotation_and_translation"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SE3.from_rotation_and_translation" title="Link to this definition">#</a></dt>
 <dd><p>Construct a rigid transform from a rotation and a translation.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
 <dd class="field-odd"><ul class="simple">
 <li><p><strong>rotation</strong> (<a class="reference internal" href="#viser.transforms.SO3" title="viser.transforms._so3.SO3"><em>SO3</em></a>) – Rotation term.</p></li>
-<li><p><strong>translation</strong> (<em>ndarray</em>) – translation term.</p></li>
+<li><p><strong>translation</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – translation term.</p></li>
 </ul>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
@@ -1422,11 +1424,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SE3.from_matrix">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">matrix</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SE3" title="viser.transforms._se3.SE3"><span class="pre">SE3</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_se3/#SE3.from_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SE3.from_matrix" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">matrix</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SE3" title="viser.transforms._se3.SE3"><span class="pre">SE3</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_se3/#SE3.from_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SE3.from_matrix" title="Link to this definition">#</a></dt>
 <dd><p>Get group member from matrix representation.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>matrix</strong> (<em>ndarray</em>) – Matrix representaiton.</p>
+<dd class="field-odd"><p><strong>matrix</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Matrix representaiton.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Group member.</p>
@@ -1461,11 +1463,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SE3.exp">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">exp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tangent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SE3" title="viser.transforms._se3.SE3"><span class="pre">SE3</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_se3/#SE3.exp"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SE3.exp" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">exp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tangent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SE3" title="viser.transforms._se3.SE3"><span class="pre">SE3</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_se3/#SE3.exp"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SE3.exp" title="Link to this definition">#</a></dt>
 <dd><p>Computes <code class="docutils literal notranslate"><span class="pre">expm(wedge(tangent))</span></code>.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>tangent</strong> (<em>ndarray</em>) – Tangent vector to take the exponential of.</p>
+<dd class="field-odd"><p><strong>tangent</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Tangent vector to take the exponential of.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Output.</p>
@@ -1492,13 +1494,13 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SE3.__matmul__">
-<span class="sig-name descname"><span class="pre">__matmul__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#viser.transforms.SE3.__matmul__" title="Link to this definition">#</a></dt>
+<span class="sig-name descname"><span class="pre">__matmul__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#viser.transforms.SE3.__matmul__" title="Link to this definition">#</a></dt>
 <dd><p>Overload for the <code class="docutils literal notranslate"><span class="pre">&#64;</span></code> operator.</p>
 <p>Switches between the group action (<code class="docutils literal notranslate"><span class="pre">.apply()</span></code>) and multiplication
 (<code class="docutils literal notranslate"><span class="pre">.multiply()</span></code>) based on the type of <code class="docutils literal notranslate"><span class="pre">other</span></code>.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>other</strong> (<em>Self</em><em> | </em><em>ndarray</em>) – </p>
+<dd class="field-odd"><p><strong>other</strong> (<em>Self</em><em> | </em><em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – </p>
 </dd>
 <dt class="field-even">Return type<span class="colon">:</span></dt>
 <dd class="field-even"><p><em>Self</em> | <em>ndarray</em>[<em>Any</em>, <em>dtype</em>[<em>floating</em>]]</p>
@@ -1529,11 +1531,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SE3.apply">
-<span class="sig-name descname"><span class="pre">apply</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">target</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#viser.transforms.SE3.apply" title="Link to this definition">#</a></dt>
+<span class="sig-name descname"><span class="pre">apply</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">target</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#viser.transforms.SE3.apply" title="Link to this definition">#</a></dt>
 <dd><p>Applies group action to a point.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>target</strong> (<em>ndarray</em>) – Point to transform.</p>
+<dd class="field-odd"><p><strong>target</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Point to transform.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Transformed point.</p>
@@ -1559,10 +1561,10 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SE3.from_translation">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_translation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="headerlink" href="#viser.transforms.SE3.from_translation" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_translation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span></span></span><a class="headerlink" href="#viser.transforms.SE3.from_translation" title="Link to this definition">#</a></dt>
 <dd><dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>translation</strong> (<em>ndarray</em>) – </p>
+<dd class="field-odd"><p><strong>translation</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – </p>
 </dd>
 <dt class="field-even">Return type<span class="colon">:</span></dt>
 <dd class="field-even"><p><em>Self</em></p>
@@ -1659,7 +1661,8 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 <em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">viser.transforms.</span></span><span class="sig-name descname"><span class="pre">SO2</span></span><a class="reference internal" href="../_modules/viser/transforms/_so2/#SO2"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO2" title="Link to this definition">#</a></dt>
 <dd><p>Bases: <a class="reference internal" href="#viser.transforms.SOBase" title="viser.transforms._base.SOBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">SOBase</span></code></a></p>
 <p>Special orthogonal group for 2D rotations. Broadcasting rules are the
-same as for <code class="docutils literal notranslate"><span class="pre">numpy</span></code>.</p>
+same as for numpy.</p>
+<p>Ported to numpy from <code class="docutils literal notranslate"><span class="pre">jaxlie.SO2</span></code>.</p>
 <p>Internal parameterization is <code class="docutils literal notranslate"><span class="pre">(cos,</span> <span class="pre">sin)</span></code>. Tangent parameterization is <code class="docutils literal notranslate"><span class="pre">(omega,)</span></code>.</p>
 <dl class="py attribute">
 <dt class="sig sig-object py" id="viser.transforms.SO2.unit_complex">
@@ -1669,11 +1672,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SO2.from_radians">
-<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_radians</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SO2" title="viser.transforms._so2.SO2"><span class="pre">SO2</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_so2/#SO2.from_radians"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO2.from_radians" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_radians</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SO2" title="viser.transforms._so2.SO2"><span class="pre">SO2</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_so2/#SO2.from_radians"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO2.from_radians" title="Link to this definition">#</a></dt>
 <dd><p>Construct a rotation object from a scalar angle.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>theta</strong> (<em>float</em><em> | </em><em>ndarray</em>) – </p>
+<dd class="field-odd"><p><strong>theta</strong> (<em>float</em><em> | </em><em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – </p>
 </dd>
 <dt class="field-even">Return type<span class="colon">:</span></dt>
 <dd class="field-even"><p><a class="reference internal" href="#viser.transforms.SO2" title="viser.transforms._so2.SO2"><em>SO2</em></a></p>
@@ -1711,11 +1714,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SO2.from_matrix">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">matrix</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SO2" title="viser.transforms._so2.SO2"><span class="pre">SO2</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_so2/#SO2.from_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO2.from_matrix" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">matrix</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SO2" title="viser.transforms._so2.SO2"><span class="pre">SO2</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_so2/#SO2.from_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO2.from_matrix" title="Link to this definition">#</a></dt>
 <dd><p>Get group member from matrix representation.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>matrix</strong> (<em>ndarray</em>) – Matrix representaiton.</p>
+<dd class="field-odd"><p><strong>matrix</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Matrix representaiton.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Group member.</p>
@@ -1750,11 +1753,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SO2.apply">
-<span class="sig-name descname"><span class="pre">apply</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">target</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../_modules/viser/transforms/_so2/#SO2.apply"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO2.apply" title="Link to this definition">#</a></dt>
+<span class="sig-name descname"><span class="pre">apply</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">target</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../_modules/viser/transforms/_so2/#SO2.apply"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO2.apply" title="Link to this definition">#</a></dt>
 <dd><p>Applies group action to a point.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>target</strong> (<em>ndarray</em>) – Point to transform.</p>
+<dd class="field-odd"><p><strong>target</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Point to transform.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Transformed point.</p>
@@ -1784,11 +1787,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SO2.exp">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">exp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tangent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SO2" title="viser.transforms._so2.SO2"><span class="pre">SO2</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_so2/#SO2.exp"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO2.exp" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">exp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tangent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SO2" title="viser.transforms._so2.SO2"><span class="pre">SO2</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_so2/#SO2.exp"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO2.exp" title="Link to this definition">#</a></dt>
 <dd><p>Computes <code class="docutils literal notranslate"><span class="pre">expm(wedge(tangent))</span></code>.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>tangent</strong> (<em>ndarray</em>) – Tangent vector to take the exponential of.</p>
+<dd class="field-odd"><p><strong>tangent</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Tangent vector to take the exponential of.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Output.</p>
@@ -1850,13 +1853,13 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SO2.__matmul__">
-<span class="sig-name descname"><span class="pre">__matmul__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#viser.transforms.SO2.__matmul__" title="Link to this definition">#</a></dt>
+<span class="sig-name descname"><span class="pre">__matmul__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#viser.transforms.SO2.__matmul__" title="Link to this definition">#</a></dt>
 <dd><p>Overload for the <code class="docutils literal notranslate"><span class="pre">&#64;</span></code> operator.</p>
 <p>Switches between the group action (<code class="docutils literal notranslate"><span class="pre">.apply()</span></code>) and multiplication
 (<code class="docutils literal notranslate"><span class="pre">.multiply()</span></code>) based on the type of <code class="docutils literal notranslate"><span class="pre">other</span></code>.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>other</strong> (<em>Self</em><em> | </em><em>ndarray</em>) – </p>
+<dd class="field-odd"><p><strong>other</strong> (<em>Self</em><em> | </em><em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – </p>
 </dd>
 <dt class="field-even">Return type<span class="colon">:</span></dt>
 <dd class="field-even"><p><em>Self</em> | <em>ndarray</em>[<em>Any</em>, <em>dtype</em>[<em>floating</em>]]</p>
@@ -1923,6 +1926,7 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 <dd><p>Bases: <a class="reference internal" href="#viser.transforms.SOBase" title="viser.transforms._base.SOBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">SOBase</span></code></a></p>
 <p>Special orthogonal group for 3D rotations. Broadcasting rules are the same as
 for numpy.</p>
+<p>Ported to numpy from <code class="docutils literal notranslate"><span class="pre">jaxlie.SO3</span></code>.</p>
 <p>Internal parameterization is <code class="docutils literal notranslate"><span class="pre">(qw,</span> <span class="pre">qx,</span> <span class="pre">qy,</span> <span class="pre">qz)</span></code>. Tangent parameterization is
 <code class="docutils literal notranslate"><span class="pre">(omega_x,</span> <span class="pre">omega_y,</span> <span class="pre">omega_z)</span></code>.</p>
 <dl class="py attribute">
@@ -1933,13 +1937,13 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SO3.from_x_radians">
-<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_x_radians</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SO3" title="viser.transforms._so3.SO3"><span class="pre">SO3</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_so3/#SO3.from_x_radians"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO3.from_x_radians" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_x_radians</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SO3" title="viser.transforms._so3.SO3"><span class="pre">SO3</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_so3/#SO3.from_x_radians"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO3.from_x_radians" title="Link to this definition">#</a></dt>
 <dd><p>Generates a x-axis rotation.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
 <dd class="field-odd"><ul class="simple">
 <li><p><strong>angle</strong> – X rotation, in radians.</p></li>
-<li><p><strong>theta</strong> (<em>float</em><em> | </em><em>ndarray</em>) – </p></li>
+<li><p><strong>theta</strong> (<em>float</em><em> | </em><em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – </p></li>
 </ul>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
@@ -1953,13 +1957,13 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SO3.from_y_radians">
-<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_y_radians</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SO3" title="viser.transforms._so3.SO3"><span class="pre">SO3</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_so3/#SO3.from_y_radians"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO3.from_y_radians" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_y_radians</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SO3" title="viser.transforms._so3.SO3"><span class="pre">SO3</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_so3/#SO3.from_y_radians"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO3.from_y_radians" title="Link to this definition">#</a></dt>
 <dd><p>Generates a y-axis rotation.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
 <dd class="field-odd"><ul class="simple">
 <li><p><strong>angle</strong> – Y rotation, in radians.</p></li>
-<li><p><strong>theta</strong> (<em>float</em><em> | </em><em>ndarray</em>) – </p></li>
+<li><p><strong>theta</strong> (<em>float</em><em> | </em><em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – </p></li>
 </ul>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
@@ -1973,13 +1977,13 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SO3.from_z_radians">
-<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_z_radians</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SO3" title="viser.transforms._so3.SO3"><span class="pre">SO3</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_so3/#SO3.from_z_radians"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO3.from_z_radians" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_z_radians</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SO3" title="viser.transforms._so3.SO3"><span class="pre">SO3</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_so3/#SO3.from_z_radians"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO3.from_z_radians" title="Link to this definition">#</a></dt>
 <dd><p>Generates a z-axis rotation.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
 <dd class="field-odd"><ul class="simple">
 <li><p><strong>angle</strong> – Z rotation, in radians.</p></li>
-<li><p><strong>theta</strong> (<em>float</em><em> | </em><em>ndarray</em>) – </p></li>
+<li><p><strong>theta</strong> (<em>float</em><em> | </em><em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – </p></li>
 </ul>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
@@ -1993,15 +1997,15 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SO3.from_rpy_radians">
-<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_rpy_radians</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">roll</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pitch</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">yaw</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SO3" title="viser.transforms._so3.SO3"><span class="pre">SO3</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_so3/#SO3.from_rpy_radians"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO3.from_rpy_radians" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_rpy_radians</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">roll</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pitch</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">yaw</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SO3" title="viser.transforms._so3.SO3"><span class="pre">SO3</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_so3/#SO3.from_rpy_radians"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO3.from_rpy_radians" title="Link to this definition">#</a></dt>
 <dd><p>Generates a transform from a set of Euler angles. Uses the ZYX mobile robot
 convention.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
 <dd class="field-odd"><ul class="simple">
-<li><p><strong>roll</strong> (<em>float</em><em> | </em><em>ndarray</em>) – X rotation, in radians. Applied first.</p></li>
-<li><p><strong>pitch</strong> (<em>float</em><em> | </em><em>ndarray</em>) – Y rotation, in radians. Applied second.</p></li>
-<li><p><strong>yaw</strong> (<em>float</em><em> | </em><em>ndarray</em>) – Z rotation, in radians. Applied last.</p></li>
+<li><p><strong>roll</strong> (<em>float</em><em> | </em><em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – X rotation, in radians. Applied first.</p></li>
+<li><p><strong>pitch</strong> (<em>float</em><em> | </em><em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Y rotation, in radians. Applied second.</p></li>
+<li><p><strong>yaw</strong> (<em>float</em><em> | </em><em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Z rotation, in radians. Applied last.</p></li>
 </ul>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
@@ -2015,13 +2019,13 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SO3.from_quaternion_xyzw">
-<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_quaternion_xyzw</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">xyzw</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SO3" title="viser.transforms._so3.SO3"><span class="pre">SO3</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_so3/#SO3.from_quaternion_xyzw"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO3.from_quaternion_xyzw" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_quaternion_xyzw</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">xyzw</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SO3" title="viser.transforms._so3.SO3"><span class="pre">SO3</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_so3/#SO3.from_quaternion_xyzw"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO3.from_quaternion_xyzw" title="Link to this definition">#</a></dt>
 <dd><p>Construct a rotation from an <code class="docutils literal notranslate"><span class="pre">xyzw</span></code> quaternion.</p>
 <p>Note that <code class="docutils literal notranslate"><span class="pre">wxyz</span></code> quaternions can be constructed using the default dataclass
 constructor.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>xyzw</strong> (<em>ndarray</em>) – xyzw quaternion. Shape should be (<a href="#id1"><span class="problematic" id="id2">*</span></a>, 4).</p>
+<dd class="field-odd"><p><strong>xyzw</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – xyzw quaternion. Shape should be (<a href="#id1"><span class="problematic" id="id2">*</span></a>, 4).</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Output.</p>
@@ -2118,11 +2122,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SO3.from_matrix">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">matrix</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SO3" title="viser.transforms._so3.SO3"><span class="pre">SO3</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_so3/#SO3.from_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO3.from_matrix" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">matrix</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SO3" title="viser.transforms._so3.SO3"><span class="pre">SO3</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_so3/#SO3.from_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO3.from_matrix" title="Link to this definition">#</a></dt>
 <dd><p>Get group member from matrix representation.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>matrix</strong> (<em>ndarray</em>) – Matrix representaiton.</p>
+<dd class="field-odd"><p><strong>matrix</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Matrix representaiton.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Group member.</p>
@@ -2157,11 +2161,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SO3.apply">
-<span class="sig-name descname"><span class="pre">apply</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">target</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../_modules/viser/transforms/_so3/#SO3.apply"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO3.apply" title="Link to this definition">#</a></dt>
+<span class="sig-name descname"><span class="pre">apply</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">target</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../_modules/viser/transforms/_so3/#SO3.apply"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO3.apply" title="Link to this definition">#</a></dt>
 <dd><p>Applies group action to a point.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>target</strong> (<em>ndarray</em>) – Point to transform.</p>
+<dd class="field-odd"><p><strong>target</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Point to transform.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Transformed point.</p>
@@ -2191,11 +2195,11 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SO3.exp">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">exp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tangent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SO3" title="viser.transforms._so3.SO3"><span class="pre">SO3</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_so3/#SO3.exp"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO3.exp" title="Link to this definition">#</a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">exp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tangent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#viser.transforms.SO3" title="viser.transforms._so3.SO3"><span class="pre">SO3</span></a></span></span><a class="reference internal" href="../_modules/viser/transforms/_so3/#SO3.exp"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#viser.transforms.SO3.exp" title="Link to this definition">#</a></dt>
 <dd><p>Computes <code class="docutils literal notranslate"><span class="pre">expm(wedge(tangent))</span></code>.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>tangent</strong> (<em>ndarray</em>) – Tangent vector to take the exponential of.</p>
+<dd class="field-odd"><p><strong>tangent</strong> (<em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – Tangent vector to take the exponential of.</p>
 </dd>
 <dt class="field-even">Returns<span class="colon">:</span></dt>
 <dd class="field-even"><p>Output.</p>
@@ -2257,13 +2261,13 @@ <h1>Transforms<a class="headerlink" href="#transforms" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="viser.transforms.SO3.__matmul__">
-<span class="sig-name descname"><span class="pre">__matmul__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#viser.transforms.SO3.__matmul__" title="Link to this definition">#</a></dt>
+<span class="sig-name descname"><span class="pre">__matmul__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Self</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">dtype</span><span class="p"><span class="pre">[</span></span><span class="pre">floating</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#viser.transforms.SO3.__matmul__" title="Link to this definition">#</a></dt>
 <dd><p>Overload for the <code class="docutils literal notranslate"><span class="pre">&#64;</span></code> operator.</p>
 <p>Switches between the group action (<code class="docutils literal notranslate"><span class="pre">.apply()</span></code>) and multiplication
 (<code class="docutils literal notranslate"><span class="pre">.multiply()</span></code>) based on the type of <code class="docutils literal notranslate"><span class="pre">other</span></code>.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>other</strong> (<em>Self</em><em> | </em><em>ndarray</em>) – </p>
+<dd class="field-odd"><p><strong>other</strong> (<em>Self</em><em> | </em><em>ndarray</em><em>[</em><em>Any</em><em>, </em><em>dtype</em><em>[</em><em>floating</em><em>]</em><em>]</em>) – </p>
 </dd>
 <dt class="field-even">Return type<span class="colon">:</span></dt>
 <dd class="field-even"><p><em>Self</em> | <em>ndarray</em>[<em>Any</em>, <em>dtype</em>[<em>floating</em>]]</p>