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💫️tf is a package that lets the user keep track of multiple coordinate frames over time. tf maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time.
💫️ three coordinate frames: a world frame
💫️any actuated is dynamic transform like motor
💫️ red axis is x , green axis is y ,blue axis is z