Spatial Math is a Python library for working with poses and orientations in 2D and 3D. It is not specifically a ROS 2 library, but of course, it is very useful for robotics. Spatial Math Python is maintained by Peter Corke, the Robotics & AI Institute (RAI), and many other awesome contributors. In case you didn’t know, Peter is the author of Robotics, Vision and Control.
With version 1.1.19, we have seen a lot of improvements and bug fixes from new contributors. There are too many to list, so check the release page for the full details. I think my personal favorite is the faster import time. Try it out:
python3 -m pip install "spatialmath-python>=1.1.19"
python3 -c 'import spatialmath; print("Spatial Math!")'