Coordinate systems in the swift backend

[XiaoP76]

Hi !

I'd like to show coordinate systems at each joint.
I tried this approach:

robot = rtb.models.LBR()
env.add(robot, robot_alpha=0.5)

for link in robot.links:
    if link.isjoint:
        l_frame = sg.Axes(0.1)
        l_frame.attach_to(link)
        env.add(l_frame)

but I get the coordinate systems at the base of the link, not at its end.
It would be great to work with the attach_to() mechanism so that the coordinate systems are updated automatically when the robot moves.

How would you approach this with the swift backend ?

Best regards

Peter