坐标变换

sub = manager.tf_static().subscribe()
transforms = await sub.recv_async()
for tf in transforms.transforms:
    print(f"{tf.parent_frame_id} → {tf.child_frame_id}")

{
  "transforms": [
    {
      "timestamp_us": 1709876543210,
      "parent_frame_id": "l_wrist",
      "child_frame_id": "l_hand_emf_tx",
      "translation": [0.01, 0.042, 0.005],
      "rotation": {
        "x": 0.0,
        "y": 0.0,
        "z": 0.0,
        "w": 1.0
      }
    }
  ]
}

{
  "transforms": [
    {
      "timestamp_us": 1709876543210,
      "parent_frame_id": "waist",
      "child_frame_id": "l_wrist",
      "translation": [0.0, -0.3, -0.5],
      "rotation": {
        "x": 0.0,
        "y": 0.17,
        "z": 0.0,
        "w": 0.98
      }
    }
  ]
}