code: def from_ros_pose_msg(pose_msg,
                            from_frame='unassigned',
                            to_frame='world'):
          
          quaternion = np.array([pose_msg.orientation.w,
                                 pose_msg.orientation.x,
                                 pose_msg.orientation.y,
                                 pose_msg.orientation.z])
          position = np.array([pose_msg.position.x,
                               pose_msg.position.y,
                               pose_msg.position.z])
          pose = RigidTransform(rotation=quaternion,
                                translation=position,
                                from_frame=from_frame,
                                to_frame=to_frame)
          return pose
docs: Creates a RigidTransform from a ROS pose msg. 
          
          Parameters
          ----------
          pose_msg : :obj:`geometry_msgs.msg.Pose`
              ROS pose message