Spatial Maths for Python
- Software
- Robot arms and industry
- Library
A Python library for representing and computing with poses and orientations in 2D and 3D space, mirroring the Spatial Math Toolbox for MATLAB. It is used across robotics and robotic vision.
Made by RAI Open Source, United States (checked on github.com/rai-opensource (opens in a new tab)).
Source on GitHub: github.com/rai-opensource/spatialmath-python (opens in a new tab). Facts read at commit 41e0a4d (opens in a new tab).
Licenses
- Code
- MIT (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit 41e0a4d (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Provides classes for 2D and 3D poses and orientations, including SE3, SO3, UnitQuaternion, SE2 and SO2.
- Supports composition and point transformation with the * operator, plus exponentiation with **.
- Covers normalization, inversion, and conversion of orientations to and from Euler, roll-pitch-yaw and angle-axis forms.
- Offers numpy-based low-level functions that perform the same operations on raw arrays.
- Can print poses and plot coordinate frames, and render animations, optionally saved as MP4.
- Works with symbolic variables through sympy for some functions.
Written by Robotheca from the project's README (opens in a new tab) at commit 41e0a4d.
Getting started
- Difficulty
- Beginner
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 16 Oct 2026 on master
- Latest release
- 1.1.18 (16 Sept 2026)
Checked on GitHub on 16 Oct 2026.
Links
Robots on Robotheca that use it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.