se3kit 1.0.0

SE3 utilities and robot kinematics

SE3kit

SE3kit is a lightweight Python library designed for 3D rigid-body transformations, rotations, and robot kinematics. It provides intuitive wrappers for homogeneous transformations, rotation representations (matrices, Euler angles, quaternions), and geometric primitives, along with a flexible forward kinematics solver for serial manipulators.

[!NOTE] This library includes optional ROS compatibility, automatically detecting and converting to/from ROS 1 or ROS 2 geometry messages if available.

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🚀 Features

• Rigid Body Transformations: Easy-to-use 4x4 homogenous transformation matrices (Transformation).
• Rotations: Comprehensive 3x3 rotation matrix support with conversions to/from Euler angles, Quaternions, and Axis-Angles (Rotation).
• Translations: Vector arithmetic and unit management (Translation).
• Homogeneous Points: 4D point representation for SE(3) operations (HPoint).
• ROS Integration: Seamless conversion between SE3kit objects and ROS geometry_msgs.

📦 Installation

This library is pure Python with minimal dependencies (numpy, numpy-quaternion).

From Source (Recommended)

To install the library in editable mode:

git clone https://github.com/daniyalmaroufi/se3kit.git
cd se3kit
pip install -e .

Development Setup

For contributors, install the development dependencies (testing, linting, docs):

pip install -e '.[dev]'
pre-commit install

🛠 Usage

Rigid Body Transformations

Create and compose transformations intuitively:

from se3kit.transformation import Transformation
from se3kit.rotation import Rotation
from se3kit.translation import Translation

# Create a transformation: 1 meter up in Z, with identity rotation
t1 = Transformation(Translation([0, 0, 1]), Rotation())

# Compose transformations
t2 = Transformation(Translation([0.5, 0, 0]), Rotation.from_rpy([0, 0, 1.57])) # Rotate 90 deg around Z
t_combined = t1 * t2

Point Transformation

Transform homogeneous points efficiently:

from se3kit.hpoint import HPoint

p = HPoint(0.1, 0.5, 0.0)
p_transformed = t_combined.transform_hpoint(p)

print(p_transformed.xyz) # Access as standard 3D vector

📚 Documentation

Full API documentation is available at: 👉 https://daniyalmaroufi.github.io/se3kit/

Building Docs Locally

You can build the Sphinx documentation locally to preview changes:

cd docs
make html
open _build/html/index.html

🤝 Contributing

We welcome contributions! Please follow these steps to ensure a smooth workflow:

1. Install Hooks: Run pre-commit install to set up linting hooks.
2. Test Locally: Run python -m unittest discover -v to ensure all tests pass.
3. Lint: Code is automatically formatted with black and ruff on commit.

📄 License

Distributed under the Apache 2.0 License. See LICENSE for more information.

✍️ Authors

• Daniyal Maroufi
• Omid Rezayof