轻量级工具库，专为机器人学中的刚体变换高效计算而设计
SE3Kit: A Lightweight Python Library for Specialized Geometric Primitives in Robotics
- 纯Python+NumPy实现，无深度学习或可视化依赖
- 支持SE(3)和SO(3)群的严格数学运算，性能高效
- 适合嵌入式部署、快速原型开发与教学使用
当前机器人学的Python生态面临挑战：尽管存在众多刚体变换库，但兼具轻量与数学严谨性的却寥寥无几。本文提出SE3Kit，一个轻量级的Python库，用于高效操作特殊欧几里得群SE(3)和特殊正交群SO(3)。与需重型依赖（如SpatialMath、PyPose）的框架或缺乏机器人特性的通用工具（如SciPy）不同，SE3Kit填补了两者之间的空白。其设计目标为嵌入式部署、快速原型开发及教育应用，提供纯Python、仅依赖NumPy的李群运算实现，避免深度学习或可视化软件的开销。
原文摘要 · Abstract (English)
The Python robotics ecosystem faces a challenge: while many libraries exist for rigid body transformations, few are both lightweight and mathematically strict. This paper introduces SE3Kit, a lightweight Python library efficient operations on the Special Euclidean Group SE(3) and the Special Orthogonal Group SO(3). Unlike established frameworks that require heavy dependencies (e.g., SpatialMath, PyPose) or general tools that lack robotics-specific features (e.g., SciPy), SE3Kit targets the gap between these extremes. It is designed for embedded deployment, rapid prototyping, and education while providing rigorous mathematical implementation. It provides a pure-Python, NumPy-only implementation of Lie Group operations, without the overhead of deep learning or other visualization software.
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