Where Am I?

Coordinate Frames

Learn what coordinate frames are, why every sensor and part has its own frame, and how frames let robots understand 'where' things are.

Transforms

Learn how to translate and rotate between frames — the math that lets robots convert 'camera sees this' into 'gripper do that'.

Building a Transform Tree

Learn how robots organize coordinate frames into a tree structure, making it easy to transform between any two frames in the system.

Quaternions Without the Fear

Understand why quaternions exist, what gimbal lock is, and how to use quaternions practically without drowning in 4D hypercomplex math.

Time-Varying Transforms

Learn how coordinate frames change as robots move, how to handle time-stamped transforms, and why interpolation matters for sensor fusion.