  This paper presents a derivation of the parallel transport equation expressed
in the Lie algebra of a Lie group endowed with a left-invariant metric.The use
of this equation is exemplified on the group of rigid body motions SE(3), using
basic numerical integration schemes, and compared to the pole ladder algorithm.
This results in a stable and efficient implementation of parallel transport.
The implementation leverages the python package geomstats and is available
online.
