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I believe a lot of the transforms stuff isn't in the python library yet. I use transforms3d in the mean time.

The transformations.py module was not included in the migration to tf2: https://github.com/ros/geometry2/issues/222

I ~~believe a lot of the transforms stuff isn't in the python library yet. I~~ suggest you use ~~transforms3d in the mean time.~~ transforms3d: https://pypi.org/project/transforms3d/.

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