For documentation, see: https://motion.cs.illinois.edu/software/klampt/latest/pyklampt_docs/klampt.math/
Only vectorops, so3, se3 packages are implemented.
There's some test code for a UR driver that's probably never going to be finished...
Clone this repository: git clone https://github.com/mass2010chromium/motion-c.git; cd motion-c
To build and install python package (using C implementation): make
To install C headers: sudo make install
If you don't like to see segfaults in your python code, edit setup.py and uncomment the first definitions of all_macros (and comment the second definition out) to enable error checking.