transforms-cli/example.yaml at master · technitute/transforms-cli · GitHub

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transforms:
  - transform:
      name: sensor
      parent: world
      rotation:
        type: dcm
        convention: passive
        matrix:
          - [ 1.0,  0.0,  0.0 ]
          - [ 0.0,  0.0,  1.0 ]
          - [ 0.0, -1.0,  0.0 ]
      translation:
        frame: parent
        direction: parent_to_child
        vector: [0.05, 0.0, 0.12]

  - transform:
      name: body
      parent: sensor
      rotation:
        type: dcm
        convention: passive
        matrix:
          - [ 1.0, 0.0, 0.0 ]
          - [ 0.0, 1.0, 0.0 ]
          - [ 0.0, 0.0, 1.0 ]
      translation:
        frame: parent
        direction: parent_to_child
        vector: [1.0, 2.0, 0.0]

output:
  parent: world
  child: body
  rotation:
    type: dcm
    convention: passive
  translation:
    frame: parent