Create rigid-transforms.md

projects/rigid-transforms.md

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+---
+layout: project
+type: project
+image: img/cotton/cotton-square.png
+title: "Cotton"
+date: 2024
+published: true
+labels:
+  - Robotics
+  - ROS2
+summary: "TODO:"
+---
+
+
+# Rigid Transforms
+
+The hardest thing about performing spatial operations is transforming between many reference frames. This small Python library encapsulates all of the necessary operations on rigid transformations $T\in SE3$ from basic constructions, to representation transformations, to parallel transport and Kabsch registration.