transforms3d
Functions for 3D coordinate transformations
Decision gist · record as of 2026-08-14
Yes, if you need 3D transformation conversions and can accept dormant maintenance. The package is stable, has no known vulnerabilities, installs with minimal friction, and carries a permissive license. It is well-suited for production use in graphics, robotics, or scientific computing where transformation math is a small part of a larger system. Not recommended if you require active bug fixes or feature development.AI-flagged interpretation of the facts on this page — verify before relying
Before you install
- Requires numpy >= 1.15; Python >= 3.6.
- Low friction: pure Python wheel with only numpy as a dependency.
- Maintenance is dormant (788 days since last release) but the repository remains active with a last commit on 2024-07-06, suggesting stability rather than abandonment.
License · maintenance · safety
BSD license (permissive) — BSD license (permissive) places no restrictions on use, modification, or distribution in proprietary or open-source projects.
last release 2024-06-17 (788 days) · last repo commit 2024-07-06 · 509 stars
0 known vulnerabilities (OSV.dev, 2026-08-14) · 696,765 downloads/mo, #5,302 on PyPI
Alternatives
Verify before relying
pip install transforms3d
import transforms3d
matrix = transforms3d.affines.compose(T=[1, 2, 3], R=[[1, 0, 0], [0, 1, 0], [0, 0, 1]], Z=[1, 1, 1], S=[1, 1, 1])- Whether the package is actively maintained or in stable maintenance mode (last release 2024-06-17 but no releases for 788 days prior).
- Specific numerical accuracy or precision guarantees for transformation conversions.
- Performance characteristics for large-scale or real-time transformation operations.
What it is and what it does
Transforms3d is a library for converting between and composing 3D geometric transformations. It handles rotations (as matrices, Euler angles, or quaternions), translations, scales, and shears, allowing you to build complex affine transformations by composing these primitives or break down an existing matrix back into its components. The code is written with teaching in mind—algorithms are documented with mathematical derivations using sympy—making it useful both as a practical tool and as a reference for understanding the underlying geometry.
The package depends only on numpy and installs as a pure Python wheel, making it lightweight and portable. It targets developers and researchers working with 3D graphics, robotics, computer vision, or any domain requiring coordinate transformations. The dormant maintenance status (no releases for 788 days) suggests the API is stable, but users should be aware that active development has slowed.
Use it for
- Convert between rotation representations (matrices, quaternions, Euler angles) in 3D graphics or robotics pipelines.
- Decompose an affine transformation matrix into its rotation, scale, shear, and translation components for analysis or modification.
- Compose multiple transformations (rotation, translation, scale) into a single affine matrix for efficient rendering or simulation.
- Validate or debug 3D transformation logic by converting between formats and checking consistency.
- Learn or teach the mathematics of 3D transformations using documented algorithms and sympy derivations.
Worth the install?
AI-flagged interpretation of the facts on this page. Verify before relying on it.
Yes, if you need 3D transformation conversions and can accept dormant maintenance.
The package is stable, has no known vulnerabilities, installs with minimal friction, and carries a permissive license. It is well-suited for production use in graphics, robotics, or scientific computing where transformation math is a small part of a larger system. Not recommended if you require active bug fixes or feature development.
Install
transforms3d on PyPI
Before you install
Low friction: pure Python wheel with only numpy as a dependency. Maintenance is dormant (788 days since last release) but the repository remains active with a last commit on 2024-07-06, suggesting stability rather than abandonment.
Requires numpy >= 1.15; Python >= 3.6.
License in practice
BSD license (permissive) places no restrictions on use, modification, or distribution in proprietary or open-source projects.
Quickstart
pip install transforms3d
import transforms3d
matrix = transforms3d.affines.compose(T=[1, 2, 3], R=[[1, 0, 0], [0, 1, 0], [0, 0, 1]], Z=[1, 1, 1], S=[1, 1, 1])Verify before relying
- Whether the package is actively maintained or in stable maintenance mode (last release 2024-06-17 but no releases for 788 days prior).
- Specific numerical accuracy or precision guarantees for transformation conversions.
- Performance characteristics for large-scale or real-time transformation operations.
Package facts
| License | BSD license permissive |
| Python support | Supports the current Python release >=3.6 |
| Install friction | Low. Pure-Python wheel |
| Runtime dependencies | 1 packagenumpy |
| Maintenance | Dormant 788 days since the last release |
| Last repo commit | |
| First released | |
| Downloads | 696,765 / month, #5,302 on PyPI 30-day window, as of 2026-08-14 |
| Known vulnerabilities | None known OSV.dev, checked 2026-08-14 |
| Classifiers | Development Status :: 4 - BetaEnvironment :: ConsoleIntended Audience :: DevelopersIntended Audience :: Science/ResearchLicense :: OSI Approved :: BSD LicenseOperating System :: MacOSOperating System :: Microsoft :: WindowsOperating System :: POSIXOperating System :: UnixProgramming Language :: PythonProgramming Language :: Python :: 3Topic :: Scientific/Engineering |
Evidence: transforms3d-0.4.2-py3-none-any.whl
Tags
Let your AI agent find packages like this
Example. Real query, live index.
You found this page by searching. An agent finds it by wishing: SkillFed indexes 14,416 PyPI packages by what they can do, searchable in plain language.
wish › “3D rotation conversions”
- transforms3dConverts between different 3D geometric transformations—rotation…
- romaRoMa provides differentiable conversions between 3D rotation…
- pytransform3dpytransform3d provides operations, conversions, and visualizations…
Give your agent the search over MCP, or paste the wish link into any chat.
More Scientific/Engineering packages
NumPy provides an N-dimensional array object and a comprehensive suite of mathematical, linear algebra, Fourier transform, and random number functions for scientific computing in Python.
pandas provides fast, flexible data structures (Series and DataFrame) for loading, cleaning, transforming, and analyzing labeled or relational data in Python.
scipy provides numerical algorithms for mathematics, science, and engineering—including optimization, integration, linear algebra, Fourier transforms, signal and image processing, and ODE solvers—built on numpy arrays.
scikit-learn provides a comprehensive Python library for supervised and unsupervised machine learning, including classification, regression, clustering, dimensionality reduction, and model evaluation tools built on NumPy and SciPy.
Install it if you need to train, evaluate, or deploy supervised or unsupervised learning models.
dill extends Python's pickle module to serialize and deserialize a much wider range of Python objects, including functions, lambdas, classes, and interpreter sessions, to byte streams for storage or network transmission.
Multiprocess is an enhanced fork of Python's standard multiprocessing library that uses dill for better serialization, allowing you to spawn processes with a threading-like API and share complex objects between them.
Install it if you use multiprocessing and encounter pickle serialization limits with lambdas or complex objects.
See also affine · magiccube · pytransform3d · roma · transformations · jaxlie · numpy-quaternion · euclid3 · Geode-Conversion · pyquaternion