Yes, back in the day I saw people doing this with Maple, glad there's open source options now. There's a cool library (also using Sympy) to do this kind of thin

Yes, back in the day I saw people doing this with Maple, glad there's open source options now. There's a cool library (also using Sympy) to do this kind of thing in robotics and computer vision applications, symforce https://github.com/symforce-org/symforce https://github.com/symforce-org/symforce