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manim
A community-maintained Python framework for creating mathematical animations. (by ManimCommunity)
Working in a closely related space and this instantly became part of my team's onboarding docs.
Worth noting that a lot of the visualization code is available in Github.
https://github.com/3b1b/videos/tree/master/_2024/transformer...
That is definitely one of the things he does better than most. He actually wrote a custom library for math animations: https://github.com/3b1b/manim
Also check out community edition: https://www.manim.community