diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/CoordinateSystem.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/CoordinateSystem.java
index 57c64ec190..57331771df 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/CoordinateSystem.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/CoordinateSystem.java
@@ -110,6 +110,21 @@ public class CoordinateSystem {
    * @return The given pose in the desired coordinate system.
    */
   public static Pose3d convert(Pose3d pose, CoordinateSystem from, CoordinateSystem to) {
-    return pose.relativeTo(new Pose3d(new Translation3d(), to.m_rotation.minus(from.m_rotation)));
+    return new Pose3d(
+        convert(pose.getTranslation(), from, to), convert(pose.getRotation(), from, to));
+  }
+
+  /**
+   * Converts the given transform from one coordinate system to another.
+   *
+   * @param transform The transform to convert.
+   * @param from The coordinate system the transform starts in.
+   * @param to The coordinate system to which to convert.
+   * @return The given transform in the desired coordinate system.
+   */
+  public static Transform3d convert(
+      Transform3d transform, CoordinateSystem from, CoordinateSystem to) {
+    return new Transform3d(
+        convert(transform.getTranslation(), from, to), convert(transform.getRotation(), from, to));
   }
 }
diff --git a/wpimath/src/main/native/cpp/geometry/CoordinateSystem.cpp b/wpimath/src/main/native/cpp/geometry/CoordinateSystem.cpp
index 320f60a9ae..d1ee93d417 100644
--- a/wpimath/src/main/native/cpp/geometry/CoordinateSystem.cpp
+++ b/wpimath/src/main/native/cpp/geometry/CoordinateSystem.cpp
@@ -61,6 +61,13 @@ Rotation3d CoordinateSystem::Convert(const Rotation3d& rotation,
 Pose3d CoordinateSystem::Convert(const Pose3d& pose,
                                  const CoordinateSystem& from,
                                  const CoordinateSystem& to) {
-  return pose.RelativeTo(
-      Pose3d{Translation3d{}, to.m_rotation - from.m_rotation});
+  return Pose3d{Convert(pose.Translation(), from, to),
+                Convert(pose.Rotation(), from, to)};
+}
+
+Transform3d CoordinateSystem::Convert(const Transform3d& transform,
+                                      const CoordinateSystem& from,
+                                      const CoordinateSystem& to) {
+  return Transform3d{Convert(transform.Translation(), from, to),
+                     Convert(transform.Rotation(), from, to)};
 }
diff --git a/wpimath/src/main/native/include/frc/geometry/CoordinateSystem.h b/wpimath/src/main/native/include/frc/geometry/CoordinateSystem.h
index e2643ac457..232455ff86 100644
--- a/wpimath/src/main/native/include/frc/geometry/CoordinateSystem.h
+++ b/wpimath/src/main/native/include/frc/geometry/CoordinateSystem.h
@@ -94,6 +94,18 @@ class WPILIB_DLLEXPORT CoordinateSystem {
   static Pose3d Convert(const Pose3d& pose, const CoordinateSystem& from,
                         const CoordinateSystem& to);
 
+  /**
+   * Converts the given transform from one coordinate system to another.
+   *
+   * @param transform The transform to convert.
+   * @param from The coordinate system the transform starts in.
+   * @param to The coordinate system to which to convert.
+   * @return The given transform in the desired coordinate system.
+   */
+  static Transform3d Convert(const Transform3d& transform,
+                             const CoordinateSystem& from,
+                             const CoordinateSystem& to);
+
  private:
   // Rotation from this coordinate system to NWU coordinate system
   Rotation3d m_rotation;
diff --git a/wpimath/src/test/java/edu/wpi/first/math/geometry/CoordinateSystemTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/CoordinateSystemTest.java
index cd19fbb05c..68babdd813 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/geometry/CoordinateSystemTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/CoordinateSystemTest.java
@@ -10,7 +10,7 @@ import edu.wpi.first.math.util.Units;
 import org.junit.jupiter.api.Test;
 
 class CoordinateSystemTest {
-  private void checkConvert(
+  private void checkPose3dConvert(
       Pose3d poseFrom, Pose3d poseTo, CoordinateSystem coordFrom, CoordinateSystem coordTo) {
     // "from" to "to"
     assertEquals(
@@ -29,10 +29,34 @@ class CoordinateSystemTest {
     assertEquals(poseFrom, CoordinateSystem.convert(poseTo, coordTo, coordFrom));
   }
 
+  private void checkTransform3dConvert(
+      Transform3d transformFrom,
+      Transform3d transformTo,
+      CoordinateSystem coordFrom,
+      CoordinateSystem coordTo) {
+    // "from" to "to"
+    assertEquals(
+        transformTo.getTranslation(),
+        CoordinateSystem.convert(transformFrom.getTranslation(), coordFrom, coordTo));
+    assertEquals(
+        transformTo.getRotation(),
+        CoordinateSystem.convert(transformFrom.getRotation(), coordFrom, coordTo));
+    assertEquals(transformTo, CoordinateSystem.convert(transformFrom, coordFrom, coordTo));
+
+    // "to" to "from"
+    assertEquals(
+        transformFrom.getTranslation(),
+        CoordinateSystem.convert(transformTo.getTranslation(), coordTo, coordFrom));
+    assertEquals(
+        transformFrom.getRotation(),
+        CoordinateSystem.convert(transformTo.getRotation(), coordTo, coordFrom));
+    assertEquals(transformFrom, CoordinateSystem.convert(transformTo, coordTo, coordFrom));
+  }
+
   @Test
-  void testEDNtoNWU() {
+  void testPose3dEDNtoNWU() {
     // No rotation from EDN to NWU
-    checkConvert(
+    checkPose3dConvert(
         new Pose3d(1.0, 2.0, 3.0, new Rotation3d()),
         new Pose3d(
             3.0,
@@ -43,7 +67,7 @@ class CoordinateSystemTest {
         CoordinateSystem.NWU());
 
     // 45° roll from EDN to NWU
-    checkConvert(
+    checkPose3dConvert(
         new Pose3d(1.0, 2.0, 3.0, new Rotation3d(Units.degreesToRadians(45.0), 0.0, 0.0)),
         new Pose3d(
             3.0,
@@ -54,7 +78,7 @@ class CoordinateSystemTest {
         CoordinateSystem.NWU());
 
     // 45° pitch from EDN to NWU
-    checkConvert(
+    checkPose3dConvert(
         new Pose3d(1.0, 2.0, 3.0, new Rotation3d(0.0, Units.degreesToRadians(45.0), 0.0)),
         new Pose3d(
             3.0,
@@ -65,7 +89,7 @@ class CoordinateSystemTest {
         CoordinateSystem.NWU());
 
     // 45° yaw from EDN to NWU
-    checkConvert(
+    checkPose3dConvert(
         new Pose3d(1.0, 2.0, 3.0, new Rotation3d(0.0, 0.0, Units.degreesToRadians(45.0))),
         new Pose3d(
             3.0,
@@ -80,9 +104,9 @@ class CoordinateSystemTest {
   }
 
   @Test
-  void testEDNtoNED() {
+  void testPose3dEDNtoNED() {
     // No rotation from EDN to NED
-    checkConvert(
+    checkPose3dConvert(
         new Pose3d(1.0, 2.0, 3.0, new Rotation3d()),
         new Pose3d(
             3.0,
@@ -93,7 +117,7 @@ class CoordinateSystemTest {
         CoordinateSystem.NED());
 
     // 45° roll from EDN to NED
-    checkConvert(
+    checkPose3dConvert(
         new Pose3d(1.0, 2.0, 3.0, new Rotation3d(Units.degreesToRadians(45.0), 0.0, 0.0)),
         new Pose3d(
             3.0,
@@ -104,7 +128,7 @@ class CoordinateSystemTest {
         CoordinateSystem.NED());
 
     // 45° pitch from EDN to NED
-    checkConvert(
+    checkPose3dConvert(
         new Pose3d(1.0, 2.0, 3.0, new Rotation3d(0.0, Units.degreesToRadians(45.0), 0.0)),
         new Pose3d(
             3.0,
@@ -115,7 +139,7 @@ class CoordinateSystemTest {
         CoordinateSystem.NED());
 
     // 45° yaw from EDN to NED
-    checkConvert(
+    checkPose3dConvert(
         new Pose3d(1.0, 2.0, 3.0, new Rotation3d(0.0, 0.0, Units.degreesToRadians(45.0))),
         new Pose3d(
             3.0,
@@ -128,4 +152,100 @@ class CoordinateSystemTest {
         CoordinateSystem.EDN(),
         CoordinateSystem.NED());
   }
+
+  @Test
+  void testTransform3dEDNtoNWU() {
+    // No rotation from EDN to NWU
+    checkTransform3dConvert(
+        new Transform3d(new Translation3d(1.0, 2.0, 3.0), new Rotation3d()),
+        new Transform3d(
+            new Translation3d(3.0, -1.0, -2.0),
+            new Rotation3d(Units.degreesToRadians(-90.0), 0.0, Units.degreesToRadians(-90.0))),
+        CoordinateSystem.EDN(),
+        CoordinateSystem.NWU());
+
+    // 45° roll from EDN to NWU
+    checkTransform3dConvert(
+        new Transform3d(
+            new Translation3d(1.0, 2.0, 3.0),
+            new Rotation3d(Units.degreesToRadians(45.0), 0.0, 0.0)),
+        new Transform3d(
+            new Translation3d(3.0, -1.0, -2.0),
+            new Rotation3d(Units.degreesToRadians(-45.0), 0.0, Units.degreesToRadians(-90.0))),
+        CoordinateSystem.EDN(),
+        CoordinateSystem.NWU());
+
+    // 45° pitch from EDN to NWU
+    checkTransform3dConvert(
+        new Transform3d(
+            new Translation3d(1.0, 2.0, 3.0),
+            new Rotation3d(0.0, Units.degreesToRadians(45.0), 0.0)),
+        new Transform3d(
+            new Translation3d(3.0, -1.0, -2.0),
+            new Rotation3d(Units.degreesToRadians(-90.0), 0.0, Units.degreesToRadians(-135.0))),
+        CoordinateSystem.EDN(),
+        CoordinateSystem.NWU());
+
+    // 45° yaw from EDN to NWU
+    checkTransform3dConvert(
+        new Transform3d(
+            new Translation3d(1.0, 2.0, 3.0),
+            new Rotation3d(0.0, 0.0, Units.degreesToRadians(45.0))),
+        new Transform3d(
+            new Translation3d(3.0, -1.0, -2.0),
+            new Rotation3d(
+                Units.degreesToRadians(-90.0),
+                Units.degreesToRadians(45.0),
+                Units.degreesToRadians(-90.0))),
+        CoordinateSystem.EDN(),
+        CoordinateSystem.NWU());
+  }
+
+  @Test
+  void testTransform3dEDNtoNED() {
+    // No rotation from EDN to NED
+    checkTransform3dConvert(
+        new Transform3d(new Translation3d(1.0, 2.0, 3.0), new Rotation3d()),
+        new Transform3d(
+            new Translation3d(3.0, 1.0, 2.0),
+            new Rotation3d(Units.degreesToRadians(90.0), 0.0, Units.degreesToRadians(90.0))),
+        CoordinateSystem.EDN(),
+        CoordinateSystem.NED());
+
+    // 45° roll from EDN to NED
+    checkTransform3dConvert(
+        new Transform3d(
+            new Translation3d(1.0, 2.0, 3.0),
+            new Rotation3d(Units.degreesToRadians(45.0), 0.0, 0.0)),
+        new Transform3d(
+            new Translation3d(3.0, 1.0, 2.0),
+            new Rotation3d(Units.degreesToRadians(135.0), 0.0, Units.degreesToRadians(90.0))),
+        CoordinateSystem.EDN(),
+        CoordinateSystem.NED());
+
+    // 45° pitch from EDN to NED
+    checkTransform3dConvert(
+        new Transform3d(
+            new Translation3d(1.0, 2.0, 3.0),
+            new Rotation3d(0.0, Units.degreesToRadians(45.0), 0.0)),
+        new Transform3d(
+            new Translation3d(3.0, 1.0, 2.0),
+            new Rotation3d(Units.degreesToRadians(90.0), 0.0, Units.degreesToRadians(135.0))),
+        CoordinateSystem.EDN(),
+        CoordinateSystem.NED());
+
+    // 45° yaw from EDN to NED
+    checkTransform3dConvert(
+        new Transform3d(
+            new Translation3d(1.0, 2.0, 3.0),
+            new Rotation3d(0.0, 0.0, Units.degreesToRadians(45.0))),
+        new Transform3d(
+            new Translation3d(3.0, 1.0, 2.0),
+            new Rotation3d(
+                Units.degreesToRadians(90.0),
+                Units.degreesToRadians(-45.0),
+                Units.degreesToRadians(90.0))),
+        CoordinateSystem.EDN(),
+        CoordinateSystem.NED());
+  }
 }
diff --git a/wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp b/wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp
index e28805c195..fc44fa52ed 100644
--- a/wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp
@@ -4,13 +4,14 @@
 
 #include "frc/geometry/CoordinateSystem.h"
 #include "frc/geometry/Pose3d.h"
+#include "frc/geometry/Transform3d.h"
 #include "gtest/gtest.h"
 
 using namespace frc;
 
-void CheckConvert(const Pose3d& poseFrom, const Pose3d& poseTo,
-                  const CoordinateSystem& coordFrom,
-                  const CoordinateSystem& coordTo) {
+void CheckPose3dConvert(const Pose3d& poseFrom, const Pose3d& poseTo,
+                        const CoordinateSystem& coordFrom,
+                        const CoordinateSystem& coordTo) {
   // "from" to "to"
   EXPECT_EQ(
       poseTo.Translation(),
@@ -28,46 +29,135 @@ void CheckConvert(const Pose3d& poseFrom, const Pose3d& poseTo,
   EXPECT_EQ(poseFrom, CoordinateSystem::Convert(poseTo, coordTo, coordFrom));
 }
 
-TEST(CoordinateSystemTest, EDNtoNWU) {
+void CheckTransform3dConvert(const Transform3d& transformFrom,
+                             const Transform3d& transformTo,
+                             const CoordinateSystem& coordFrom,
+                             const CoordinateSystem& coordTo) {
+  // "from" to "to"
+  EXPECT_EQ(transformTo.Translation(),
+            CoordinateSystem::Convert(transformFrom.Translation(), coordFrom,
+                                      coordTo));
+  EXPECT_EQ(
+      transformTo.Rotation(),
+      CoordinateSystem::Convert(transformFrom.Rotation(), coordFrom, coordTo));
+  EXPECT_EQ(transformTo,
+            CoordinateSystem::Convert(transformFrom, coordFrom, coordTo));
+
+  // "to" to "from"
+  EXPECT_EQ(
+      transformFrom.Translation(),
+      CoordinateSystem::Convert(transformTo.Translation(), coordTo, coordFrom));
+  EXPECT_EQ(
+      transformFrom.Rotation(),
+      CoordinateSystem::Convert(transformTo.Rotation(), coordTo, coordFrom));
+  EXPECT_EQ(transformFrom,
+            CoordinateSystem::Convert(transformTo, coordTo, coordFrom));
+}
+
+TEST(CoordinateSystemTest, Pose3dEDNtoNWU) {
   // No rotation from EDN to NWU
-  CheckConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{}},
-               Pose3d{3_m, -1_m, -2_m, Rotation3d{-90_deg, 0_deg, -90_deg}},
-               CoordinateSystem::EDN(), CoordinateSystem::NWU());
+  CheckPose3dConvert(
+      Pose3d{1_m, 2_m, 3_m, Rotation3d{}},
+      Pose3d{3_m, -1_m, -2_m, Rotation3d{-90_deg, 0_deg, -90_deg}},
+      CoordinateSystem::EDN(), CoordinateSystem::NWU());
 
   // 45° roll from EDN to NWU
-  CheckConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{45_deg, 0_deg, 0_deg}},
-               Pose3d{3_m, -1_m, -2_m, Rotation3d{-45_deg, 0_deg, -90_deg}},
-               CoordinateSystem::EDN(), CoordinateSystem::NWU());
+  CheckPose3dConvert(
+      Pose3d{1_m, 2_m, 3_m, Rotation3d{45_deg, 0_deg, 0_deg}},
+      Pose3d{3_m, -1_m, -2_m, Rotation3d{-45_deg, 0_deg, -90_deg}},
+      CoordinateSystem::EDN(), CoordinateSystem::NWU());
 
   // 45° pitch from EDN to NWU
-  CheckConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{0_deg, 45_deg, 0_deg}},
-               Pose3d{3_m, -1_m, -2_m, Rotation3d{-90_deg, 0_deg, -135_deg}},
-               CoordinateSystem::EDN(), CoordinateSystem::NWU());
+  CheckPose3dConvert(
+      Pose3d{1_m, 2_m, 3_m, Rotation3d{0_deg, 45_deg, 0_deg}},
+      Pose3d{3_m, -1_m, -2_m, Rotation3d{-90_deg, 0_deg, -135_deg}},
+      CoordinateSystem::EDN(), CoordinateSystem::NWU());
 
   // 45° yaw from EDN to NWU
-  CheckConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{0_deg, 0_deg, 45_deg}},
-               Pose3d{3_m, -1_m, -2_m, Rotation3d{-90_deg, 45_deg, -90_deg}},
-               CoordinateSystem::EDN(), CoordinateSystem::NWU());
+  CheckPose3dConvert(
+      Pose3d{1_m, 2_m, 3_m, Rotation3d{0_deg, 0_deg, 45_deg}},
+      Pose3d{3_m, -1_m, -2_m, Rotation3d{-90_deg, 45_deg, -90_deg}},
+      CoordinateSystem::EDN(), CoordinateSystem::NWU());
 }
 
-TEST(CoordinateSystemTest, EDNtoNED) {
+TEST(CoordinateSystemTest, Pose3dEDNtoNED) {
   // No rotation from EDN to NED
-  CheckConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{}},
-               Pose3d{3_m, 1_m, 2_m, Rotation3d{90_deg, 0_deg, 90_deg}},
-               CoordinateSystem::EDN(), CoordinateSystem::NED());
+  CheckPose3dConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{}},
+                     Pose3d{3_m, 1_m, 2_m, Rotation3d{90_deg, 0_deg, 90_deg}},
+                     CoordinateSystem::EDN(), CoordinateSystem::NED());
 
   // 45° roll from EDN to NED
-  CheckConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{45_deg, 0_deg, 0_deg}},
-               Pose3d{3_m, 1_m, 2_m, Rotation3d{135_deg, 0_deg, 90_deg}},
-               CoordinateSystem::EDN(), CoordinateSystem::NED());
+  CheckPose3dConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{45_deg, 0_deg, 0_deg}},
+                     Pose3d{3_m, 1_m, 2_m, Rotation3d{135_deg, 0_deg, 90_deg}},
+                     CoordinateSystem::EDN(), CoordinateSystem::NED());
 
   // 45° pitch from EDN to NED
-  CheckConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{0_deg, 45_deg, 0_deg}},
-               Pose3d{3_m, 1_m, 2_m, Rotation3d{90_deg, 0_deg, 135_deg}},
-               CoordinateSystem::EDN(), CoordinateSystem::NED());
+  CheckPose3dConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{0_deg, 45_deg, 0_deg}},
+                     Pose3d{3_m, 1_m, 2_m, Rotation3d{90_deg, 0_deg, 135_deg}},
+                     CoordinateSystem::EDN(), CoordinateSystem::NED());
 
   // 45° yaw from EDN to NED
-  CheckConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{0_deg, 0_deg, 45_deg}},
-               Pose3d{3_m, 1_m, 2_m, Rotation3d{90_deg, -45_deg, 90_deg}},
-               CoordinateSystem::EDN(), CoordinateSystem::NED());
+  CheckPose3dConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{0_deg, 0_deg, 45_deg}},
+                     Pose3d{3_m, 1_m, 2_m, Rotation3d{90_deg, -45_deg, 90_deg}},
+                     CoordinateSystem::EDN(), CoordinateSystem::NED());
+}
+
+TEST(CoordinateSystemTest, Transform3dEDNtoNWU) {
+  // No rotation from EDN to NWU
+  CheckTransform3dConvert(
+      Transform3d{Translation3d{1_m, 2_m, 3_m}, Rotation3d{}},
+      Transform3d{Translation3d{3_m, -1_m, -2_m},
+                  Rotation3d{-90_deg, 0_deg, -90_deg}},
+      CoordinateSystem::EDN(), CoordinateSystem::NWU());
+
+  // 45° roll from EDN to NWU
+  CheckTransform3dConvert(Transform3d{Translation3d{1_m, 2_m, 3_m},
+                                      Rotation3d{45_deg, 0_deg, 0_deg}},
+                          Transform3d{Translation3d{3_m, -1_m, -2_m},
+                                      Rotation3d{-45_deg, 0_deg, -90_deg}},
+                          CoordinateSystem::EDN(), CoordinateSystem::NWU());
+
+  // 45° pitch from EDN to NWU
+  CheckTransform3dConvert(Transform3d{Translation3d{1_m, 2_m, 3_m},
+                                      Rotation3d{0_deg, 45_deg, 0_deg}},
+                          Transform3d{Translation3d{3_m, -1_m, -2_m},
+                                      Rotation3d{-90_deg, 0_deg, -135_deg}},
+                          CoordinateSystem::EDN(), CoordinateSystem::NWU());
+
+  // 45° yaw from EDN to NWU
+  CheckTransform3dConvert(Transform3d{Translation3d{1_m, 2_m, 3_m},
+                                      Rotation3d{0_deg, 0_deg, 45_deg}},
+                          Transform3d{Translation3d{3_m, -1_m, -2_m},
+                                      Rotation3d{-90_deg, 45_deg, -90_deg}},
+                          CoordinateSystem::EDN(), CoordinateSystem::NWU());
+}
+
+TEST(CoordinateSystemTest, Transform3dEDNtoNED) {
+  // No rotation from EDN to NED
+  CheckTransform3dConvert(
+      Transform3d{Translation3d{1_m, 2_m, 3_m}, Rotation3d{}},
+      Transform3d{Translation3d{3_m, 1_m, 2_m},
+                  Rotation3d{90_deg, 0_deg, 90_deg}},
+      CoordinateSystem::EDN(), CoordinateSystem::NED());
+
+  // 45° roll from EDN to NED
+  CheckTransform3dConvert(Transform3d{Translation3d{1_m, 2_m, 3_m},
+                                      Rotation3d{45_deg, 0_deg, 0_deg}},
+                          Transform3d{Translation3d{3_m, 1_m, 2_m},
+                                      Rotation3d{135_deg, 0_deg, 90_deg}},
+                          CoordinateSystem::EDN(), CoordinateSystem::NED());
+
+  // 45° pitch from EDN to NED
+  CheckTransform3dConvert(Transform3d{Translation3d{1_m, 2_m, 3_m},
+                                      Rotation3d{0_deg, 45_deg, 0_deg}},
+                          Transform3d{Translation3d{3_m, 1_m, 2_m},
+                                      Rotation3d{90_deg, 0_deg, 135_deg}},
+                          CoordinateSystem::EDN(), CoordinateSystem::NED());
+
+  // 45° yaw from EDN to NED
+  CheckTransform3dConvert(Transform3d{Translation3d{1_m, 2_m, 3_m},
+                                      Rotation3d{0_deg, 0_deg, 45_deg}},
+                          Transform3d{Translation3d{3_m, 1_m, 2_m},
+                                      Rotation3d{90_deg, -45_deg, 90_deg}},
+                          CoordinateSystem::EDN(), CoordinateSystem::NED());
 }