Is the Euclidean group $E(3)$ on $\mathbb{R}^3$ amenable?

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I am quite confused about this since I thought the Banach-Tarski theorem implies it is not but I also heard from multiple people that it is amenable since it is the semidirect product of an abelian and a compact group. It would be amazing if someone could explain the relationship between amenable groups and the paradox to me! I would also be interested in the amenability of $E(d)$ for general $d$.

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It is better to think about the group $SO(3)$. If you equip it with the natural matrix topology, it is compact, hence amenable: The invariant probability measure is the natural one, given by a left-invariant volume form on this Lie group. (There is a lot to digest here if you do not know what these words mean.) But as a discrete group, $SO(3)$ is not amenable since it contains a free group on two generators and the latter is nonamenable. The existence of nonabelian free subgroups is the heart of the proof of the Banach-Tarski paradox. Again, it requires quite a bit of work on your part to understand what am I talking about if you are not familiar with these notions.