---
id: pytransform3d
version: "3.16.0"
license: BSD-3-Clause
license_treatment: permissive
maintenance: active
---

# pytransform3d — 3D transformations for Python

License: permissive · Maintenance: active · Downloads: 353.2K/mo

## What it is and what it does

pytransform3d is a Python library for working with 3D transformations—rotations and translations—in robotics, computer vision, and geometric computing. It provides a unified interface to convert between common rotation representations (quaternions, Euler angles, rotation matrices, axis-angle), compose transformations, and invert them. The core strength is the TransformManager, which maintains a graph of coordinate frames and computes transformations between any two frames automatically, eliminating manual chain multiplication.

The library couples tightly with matplotlib for visualization and can load transformation hierarchies from URDF files (robot description format) via lxml. Optional integrations include Qt-based graphical transformation editing, Open3D visualization, and graph export via pydot. It's designed for robotics workflows—specifying robot motions, learning from demonstrations, pose estimation, collision detection—but applies broadly to any domain needing 3D geometric reasoning.

Use it for:

- Specify and visualize robot arm kinematics by defining frame hierarchies and querying end-effector positions
- Convert between rotation representations (e.g., quaternion to Euler angles) for sensor fusion or animation
- Load and manipulate URDF robot models to compute forward kinematics and frame transformations
- Animate 3D geometries and transformations using matplotlib or Open3D visualization interfaces
- Build transformation chains for multi-sensor systems (e.g., camera-to-robot-to-gripper) and resolve poses
- Prototype geometric algorithms requiring coordinate frame reasoning without manual matrix algebra

## Worth the install?

AI-flagged interpretation of the facts above — verify before relying.

pytransform3d provides operations, conversions, and visualizations for 3D rotations and translations, with built-in support for multiple rotation representations and a TransformManager for chaining complex transformations.

Yes. pytransform3d is actively maintained, has no known vulnerabilities, installs with low friction, and fills a clear niche in 3D geometry and robotics. Its permissive BSD license and mature API (since 2018) make it safe for production use. Install if you work with 3D transformations, robot kinematics, or multi-frame coordinate systems.

## Install

pip install pytransform3d
uv add pytransform3d
poetry add pytransform3d

## Installing pytransform3d

Before you install: Low friction install with a pure-Python wheel. Actively maintained with a recent release (21 days ago) and 704 repository stars. Core dependencies are standard scientific stack (numpy, scipy, matplotlib, lxml).

License in practice: Distributed under BSD-3-Clause (permissive), allowing commercial and private use with minimal restrictions beyond attribution and liability disclaimers.

Quickstart:

pip install pytransform3d

import numpy as np
from pytransform3d import rotations as pr
from pytransform3d import transformations as pt
from pytransform3d.transform_manager import TransformManager

tm = TransformManager()
tm.add_transform("frame_a", "frame_b", pt.transform_from_pq(np.array([0, 0, 0, 1, 0, 0, 0])))
ee2object = tm.get_transform("frame_a", "frame_b")

Verify before relying:

- Whether Open3D integration (mentioned in description) is included in base install or requires separate extras
- Support for Python 2 (listed in classifiers) status given modern ecosystem shift

## Package facts

- License: BSD-3-Clause (permissive)
- Python support: unspecified
- Install friction: low
- Maintenance: active
- Downloads: 353.2K/month (top 15,000 on PyPI)
- Known vulnerabilities: none known

## Tags

3D rotation and translation, transformation matrices python, quaternion euler angle conversion, robot kinematics visualization, coordinate frame management, 3D geometry transformations, transform composition chains, robotics, 3d-geometry, kinematics

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