Registry / data / pytransform3d

pytransform3d

library3.15.0pypypi✓ verified 87d ago

pytransform3d is a Python library for 3D transformations, offering tools to manipulate and visualize 3D poses, rotations (matrices, quaternions, axis-angle), translations, trajectories, and meshes. It emphasizes conventions that are common in robotics and computer vision. The current version is 3.15.0, and the project maintains an active release cadence with frequent updates and bug fixes.

data ai-ml serialization

pip install pytransform3d

github ↗package ↗

INSTALL

IMPORT

SIG · PYTRANSFORM3D

pytransform3d

datapythonv3.15.0

Install

19.5s avg

Import

509ms

Disk

338MB

Pass rate

10/ 10

Env Coverage10 / 10

glibc

3.9–3.13

musl

3.9–3.13

Install & Compatibility

Where this runs

tested against v3.15.0 · pip install

no network on importno background threads

Install × environment matrix

Each cell = how many times install + import succeeded across repeated harness runs. Partial = flaky.
glibc = Debian/Ubuntu slim · musl = Alpine Linux

musl

py 3.10–3.940 runs

installs and imports cleanly · install 0.0s · import 0.509s · 338MB

glibc

py 3.10–3.940 runs

installs and imports cleanly · install 27.3s · import 0.509s · 320MB

338MB installed

● package 338MB

Code

Verified usage

Verified import paths — ran on the pinned version, not inferred.

transformations

✓ import pytransform3d.transformations as ptf

rotations

✓ import pytransform3d.rotations as pr

plot_utils

✓ import pytransform3d.plot_utils as ppu

visualizer

✓ import pytransform3d.visualizer as pv

This quickstart demonstrates how to define a 3D transformation (rotation + translation) using axis-angle representation and then visualize it using matplotlib utilities provided by pytransform3d. It shows a basic use of `transformations` and `plot_utils` modules.

import numpy as np import pytransform3d.transformations as ptf import pytransform3d.plot_utils as ppu import matplotlib.pyplot as plt # Define a transformation: rotate 90 degrees around Z-axis, then translate (1, 0, 0) A2B = ptf.transform_from_axis_angle([0, 0, 1, np.deg2rad(90)], np.array([1, 0, 0])) # Create a 3D axis for plotting ax = ppu.make_3d_axis(ax_s=2, n_ticks=2) # Plot the transformation ppu.plot_transform(ax, A2B, s=0.5) # Set title and display ax.set_title("Basic Transformation Plot") plt.show()

Debug

Known issues

breakingSupport for Python 3.8 was dropped in version 3.14.1. Users on Python 3.8 will need to upgrade their Python version to 3.9 or higher to use recent `pytransform3d` releases.

fix

Upgrade Python to 3.9 or a newer supported version.

affects: >=3.14.1

gotchaVersion 3.14.0 introduced a significant refactoring, splitting large files into smaller modules, particularly for conversions between rotations and transformations. While many common functions retained their path, some less common or deeply nested functions might have moved, potentially causing `AttributeError` or `ImportError` if custom or older scripts rely on specific, now-changed, internal module structures.

fix

Consult the official documentation for the updated import paths and function locations if you encounter `AttributeError` or `ImportError` after upgrading to 3.14.0 or later. For example, some functions previously available directly under `pytransform3d.rotations` might now be in `pytransform3d.transformations` or vice versa depending on their primary utility.

affects: >=3.14.0

gotchaOlder versions (pre-3.14.3) had known bugs parsing URDF files, especially those with XML namespaces or comments, which could lead to errors or incorrect robot models. While fixed in recent versions, if you're working with URDFs, ensure you're on a recent version.

fix

Upgrade `pytransform3d` to version 3.14.4 or newer to ensure robust URDF parsing. If you must use an older version, manually clean or simplify URDF files known to cause issues.

affects: <3.14.3

gotchaWhen using `pytransform3d.visualizer` or any of its submodules, you might encounter `ImportError` if optional dependencies like Open3D, Pyrender, or Trimesh are not installed. These are not installed by default with `pip install pytransform3d`.

fix

Install `pytransform3d` with the `[all]` extra (e.g., `pip install pytransform3d[all]`) or specifically for the visualization backend you intend to use (e.g., `pip install pytransform3d[open3d]`).

affects: All versions

Errors

Common errors & fixes

AttributeError: module 'pytransform3d.transformations' has no attribute 'some_old_function'

A function or attribute you are trying to access has been renamed, moved to a different module, or removed in a newer version, especially due to refactoring in 3.14.0.

fix

Check the official documentation or release notes for the current version to find the correct function name or its new location (e.g., it might have moved from `transformations` to `rotations` or vice-versa, or be in a new utility module).

ValueError: Expected a 4x4 transformation matrix

A function that expects a 4x4 homogeneous transformation matrix (e.g., `plot_transform`, `concatenate_transforms`) received an input array with an incorrect shape (e.g., 3x3, 3x4, or non-matrix input).

fix

Ensure that the input array is a `numpy.ndarray` of shape `(4, 4)`. You might need to convert a rotation matrix and translation vector using `pytransform3d.transformations.transform_from_Rt()` or a similar helper function.

ImportError: cannot import name 'visualizer' from 'pytransform3d'

The `visualizer` module and its functionalities depend on optional packages (like Open3D, Pyrender) that are not installed by default.

fix

Install `pytransform3d` with the necessary optional dependencies using `pip install pytransform3d[all]` or `pip install pytransform3d[open3d]` (replace `open3d` with the specific backend you need).

numpy.linalg.LinAlgError: SVD did not converge

This can occur during matrix decompositions (e.g., polar decomposition for orthonormalizing rotation matrices) when the input matrix is singular, poorly conditioned, or not close enough to a valid rotation matrix due to floating point errors or invalid data.

fix

If working with rotation matrices that might have accumulated floating point errors, consider using `pytransform3d.rotations.robust_polar_decomposition` (available since 3.12.0) which provides a more stable way to orthonormalize a matrix. Ensure your input data is valid and as numerically stable as possible.

Upgrade

Version history

3.15.0latest on PyPI · released Apr 10, 2026

Audit

Dependencies

numpyrequiredCore dependency for numerical operations.

scipyrequiredCore dependency for scientific computing functions.

matplotliboptionalOptional, for 2D/3D plotting functionalities.

numbaoptionalOptional, for performance improvements via JIT compilation.

open3doptionalOptional, for advanced 3D visualization and mesh processing.

trimeshoptionalOptional, for mesh loading and manipulation.

pyrenderoptionalOptional, for rendering 3D scenes.

Agent activity

25 hits · last 30 days

node

OpenAI (training)

Resources

githubhttps://github.com/dfki-ric/pytransform3d ↗

packagehttps://pypi.org/project/pytransform3d/ ↗