Fast Symbolic Computation for Robotics

SymForce is a symbolic computation and code generation library that combines the development speed and flexibility of symbolic mathematics in Python with the performance of autogenerated, highly optimized code in C++ or any target runtime language.

https://github.com/sympy/sympy/issues/9479 suggests that multivariate inequalities are still unsolved in SymPy, though it looks like https://github.com/sympy/sympy/pull/21687 was merged in August. This probably isn't yet implemented in C++ in SymForce yet?