code: def as_frames(self, from_frame, to_frame='world'):
          
          return RigidTransform(self.rotation, self.translation, from_frame, to_frame)
docs: Return a shallow copy of this rigid transform with just the frames
          changed.
  
          Parameters
          ----------
          from_frame : :obj:`str`
              The new from_frame.
  
          to_frame : :obj:`str`
              The new to_frame.
  
          Returns
          -------
          :obj:`RigidTransform`
              The RigidTransform with new frames.