SymPy: Symbolic Mathematics in Python

Working in the field of robotics, I often have to write big vectors (usually computed as the result of 3D transformations) and then compute their Jacobian (their derivative with respect to several state-variables), which quickly becomes very nasty equations. I use sympy to (i) compute these big vectors, expressed in a very declarative way, (ii) compute the jacobian and (iii) export the results in C-code, immediately importable in my code case. To illustrate what I mean by "expressing systems of…

SymPy is the best! In addition to the already-excellent official tutorial https://docs.sympy.org/latest/tutorial/index.html , I have written a short printable tutorial summary of the functions most useful for students https://minireference.com/static/tutorials/sympy_tutorial.pd... For anyone interested in trying SymPy without installing, there is also the online shell https://live.sympy.org/ which works great and allows you to send entire computations as a URL, see for example this comment that links to an…